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Add option to prepend timestamp to image filename in image_saver node #806

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merged 1 commit into from
May 24, 2023
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Add option to prepend timestamp to image filename in image_saver node #806

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10 changes: 10 additions & 0 deletions image_view/src/nodes/image_saver.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -43,6 +43,7 @@
#include <std_srvs/Trigger.h>

boost::format g_format;
bool stamped_filename;
bool save_all_image, save_image_service;
std::string encoding;
bool request_start_end;
Expand Down Expand Up @@ -164,6 +165,14 @@ class Callbacks {
} catch (...) { g_format.clear(); }

if ( save_all_image || save_image_service ) {

if (stamped_filename) {
std::stringstream ss;
ss << ros::Time::now().toNSec();
std::string timestamp_str = ss.str();
filename.insert(0,timestamp_str);
}

cv::imwrite(filename, image);
ROS_INFO("Saved image %s", filename.c_str());

Expand Down Expand Up @@ -205,6 +214,7 @@ int main(int argc, char** argv)
ros::NodeHandle local_nh("~");
std::string format_string;
local_nh.param("filename_format", format_string, std::string("left%04i.%s"));
local_nh.param("stamped_filename", stamped_filename, false);
local_nh.param("encoding", encoding, std::string("bgr8"));
local_nh.param("save_all_image", save_all_image, true);
local_nh.param("request_start_end", request_start_end, false);
Expand Down