ROS 2: Add option to prepend timestamp to image filename in image_sav…

…er node (#870)

Related to this PR in ROS 1
https://github.com/ros-perception/image_pipeline/pull/806/files

---------

Signed-off-by: Alejandro Hernández Cordero <ahcorde@gmail.com>

image_view/include/image_view/image_saver_node.hpp

@@ -70,6 +70,7 @@ class ImageSaverNode
 
 private:
  boost::format g_format;
+ bool stamped_filename_;
  bool save_all_image_{false};
  bool save_image_service_{false};
  std::string encoding_;

image_view/src/image_saver_node.cpp

@@ -48,6 +48,7 @@
 
 #include <chrono>
 #include <memory>
+#include <sstream>
 #include <string>
 
 #include "cv_bridge/cv_bridge.hpp"
@@ -89,6 +90,7 @@ ImageSaverNode::ImageSaverNode(const rclcpp::NodeOptions & options)
  format_string = this->declare_parameter("filename_format", std::string("left%04i.%s"));
  encoding_ = this->declare_parameter("encoding", std::string("bgr8"));
  save_all_image_ = this->declare_parameter("save_all_image", true);
+ stamped_filename_ = this->declare_parameter("stamped_filename", false);
  request_start_end_ = this->declare_parameter("request_start_end", false);
  g_format.parse(format_string);
 
@@ -142,6 +144,13 @@ bool ImageSaverNode::saveImage(
  }
 
  if (save_all_image_ || save_image_service_) {
+ if (stamped_filename_) {
+ std::stringstream ss;
+ ss << this->now().nanoseconds();
+ std::string timestamp_str = ss.str();
+ filename.insert(0, timestamp_str);
+ }
+
  if (cv::imwrite(filename, image)) {
  RCLCPP_INFO(this->get_logger(), "Saved image %s", filename.c_str());
  } else {