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fix: resolve SDK JSON file paths

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This commit is contained in:
ob-yalian
2026-05-27 10:49:03 +08:00
parent 532438d5a7
commit d033ef5aac
1 changed files with 40 additions and 9 deletions
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orbbec_camera/src/ob_camera_node.cpp
+40 -9
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@@ -22,6 +22,7 @@
#include <algorithm>
#include <cctype>
#include <cmath>
#include <cstdlib>
#include <unordered_map>
#include <unordered_set>
@@ -64,6 +65,20 @@ std::string getDepthFilterStatusName(const std::string &filter_name) {
return filter_name;
}
std::filesystem::path resolveConfigJsonFilePath(const std::string &file_path) {
std::filesystem::path path(file_path);
if ((file_path == "~" || file_path.rfind("~/", 0) == 0) && std::getenv("HOME") != nullptr) {
path = std::filesystem::path(std::getenv("HOME"));
if (file_path.size() > 2) {
path /= file_path.substr(2);
}
}
if (path.is_relative()) {
path = std::filesystem::absolute(path);
}
return path.lexically_normal();
}
std::string getDepthFilterStatusParamName(const std::string &filter_name,
const std::string &param_name) {
if (filter_name == "SpatialAdvancedFilter" && param_name == "disp_diff") {
@@ -1595,8 +1610,22 @@ bool OBCameraNode::exportConfigJsonToFile(const std::string &file_path, std::str
}
try {
device_->exportSettingsAsPresetJsonFile(file_path.c_str());
message = "Exported config json file path: " + file_path;
const auto resolved_file_path = resolveConfigJsonFilePath(file_path);
const auto parent_path = resolved_file_path.parent_path();
if (!parent_path.empty()) {
std::filesystem::create_directories(parent_path);
}
const auto resolved_file_path_str = resolved_file_path.string();
device_->exportSettingsAsPresetJsonFile(resolved_file_path_str.c_str());
if (!std::filesystem::exists(resolved_file_path)) {
message = "Failed to export config json file: file not found after export path=" +
resolved_file_path_str;
RCLCPP_ERROR_STREAM(logger_, message);
return false;
}
message = "Exported config json file path: " + resolved_file_path_str;
RCLCPP_INFO_STREAM(logger_, message);
return true;
} catch (const ob::Error &e) {
@@ -1627,30 +1656,32 @@ void OBCameraNode::loadConfigJson() {
return;
}
std::ifstream load_config_file(load_config_json_file_path_);
const auto resolved_file_path = resolveConfigJsonFilePath(load_config_json_file_path_);
const auto resolved_file_path_str = resolved_file_path.string();
std::ifstream load_config_file(resolved_file_path);
if (!load_config_file.good()) {
RCLCPP_WARN_STREAM(logger_, "Config JSON load skip file=" << load_config_json_file_path_
RCLCPP_WARN_STREAM(logger_, "Config JSON load skip file=" << resolved_file_path_str
<< " reason=file_not_found");
return;
}
try {
device_->loadPresetFromJsonFile(load_config_json_file_path_.c_str());
device_->loadPresetFromJsonFile(resolved_file_path_str.c_str());
config_json_loaded_ = true;
RCLCPP_INFO_STREAM(logger_, "Config JSON loaded file=" << load_config_json_file_path_);
RCLCPP_INFO_STREAM(logger_, "Config JSON loaded file=" << resolved_file_path_str);
} catch (const ob::Error &e) {
config_json_loaded_ = false;
RCLCPP_ERROR_STREAM(logger_, "Config JSON load failed file="
<< load_config_json_file_path_ << " error=\""
<< resolved_file_path_str << " error=\""
<< orbbec_camera::formatObErrorWithStatus(e) << "\"");
} catch (const std::exception &e) {
config_json_loaded_ = false;
RCLCPP_ERROR_STREAM(logger_, "Config JSON load failed file=" << load_config_json_file_path_
RCLCPP_ERROR_STREAM(logger_, "Config JSON load failed file=" << resolved_file_path_str
<< " error=\"" << e.what()
<< "\"");
} catch (...) {
config_json_loaded_ = false;
RCLCPP_ERROR_STREAM(logger_, "Config JSON load failed file=" << load_config_json_file_path_);
RCLCPP_ERROR_STREAM(logger_, "Config JSON load failed file=" << resolved_file_path_str);
}
}