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feat: add sensor configuration synchronization for export

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This commit is contained in:
ob-yalian
2026-06-20 16:05:30 +08:00
parent 6794411613
commit fbe128a8e9
2 changed files with 63 additions and 0 deletions
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orbbec_camera/src/ob_camera_node.cpp
+61
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@@ -1695,6 +1695,7 @@ bool OBCameraNode::exportConfigJsonToFile(const std::string &file_path, std::str
}
const auto resolved_file_path_str = resolved_file_path.string();
syncApplicationSensorConfigForExport();
syncApplicationPointCloudConfigForExport();
syncApplicationHdrMergeConfigForExport();
device_->exportSettingsAsPresetJsonFile(resolved_file_path_str.c_str());
@@ -1731,6 +1732,66 @@ void OBCameraNode::exportConfigJsonIfRequested() {
bool OBCameraNode::isConfigJsonLoaded() const { return config_json_loaded_; }
void OBCameraNode::syncApplicationSensorConfigForExport() {
if (!device_) {
return;
}
try {
if (!ob::ApplicationConfig::isSupported(device_)) {
RCLCPP_DEBUG_STREAM(logger_, "Skip exporting application_config sensors: unsupported device");
return;
}
auto application_config = ob::ApplicationConfig::get(device_);
CHECK_NOTNULL(application_config.get());
for (const auto &sensor_config : application_config->sensors()) {
if (!sensor_config || !sensor_config->streamProfile()) {
continue;
}
const auto current_profile = sensor_config->streamProfile();
const stream_index_pair stream_index{current_profile->getType(), 0};
const auto stream_name_it = stream_name_.find(stream_index);
if (stream_name_it == stream_name_.end()) {
RCLCPP_DEBUG_STREAM(logger_,
"Skip exporting application_config sensor: unsupported stream type="
<< magic_enum::enum_name(current_profile->getType()));
continue;
}
auto export_sensor_config =
std::make_shared<ob::ApplicationSensorConfig>(sensor_config->sensorType());
const auto enable_stream_it = enable_stream_.find(stream_index);
export_sensor_config->enableStream(enable_stream_it != enable_stream_.end()
? enable_stream_it->second
: sensor_config->isStreamEnabled());
const auto stream_profile_it = stream_profile_.find(stream_index);
export_sensor_config->setStreamProfile(stream_profile_it != stream_profile_.end() &&
stream_profile_it->second
? stream_profile_it->second
: current_profile);
const auto enable_undistortion_it = enable_undistortion_.find(stream_index);
export_sensor_config->enableUndistortion(enable_undistortion_it != enable_undistortion_.end()
? enable_undistortion_it->second
: sensor_config->isUndistortionEnabled());
application_config->setSensor(export_sensor_config);
}
} catch (const ob::Error &e) {
RCLCPP_WARN_STREAM(logger_, "Export application_config sensors sync failed error=\""
<< orbbec_camera::formatObErrorWithStatus(e) << "\"");
} catch (const std::exception &e) {
RCLCPP_WARN_STREAM(
logger_, "Export application_config sensors sync failed error=\"" << e.what() << "\"");
} catch (...) {
RCLCPP_WARN_STREAM(logger_, "Export application_config sensors sync failed");
}
}
void OBCameraNode::syncApplicationPointCloudConfigForExport() {
if (!device_) {
return;