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refactor: enhance logging levels and improve message clarity in camera node

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slz
2026-04-07 18:06:10 +08:00
parent 5a799bfc21
commit 0035c0b18c
2 changed files with 13 additions and 18 deletions
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orbbec_camera/src/ob_camera_node.cpp
+6 -7
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@@ -458,8 +458,6 @@ void OBCameraNode::setupDevices() {
}
if (!sync_mode_str_.empty()) {
auto sync_config = device_->getMultiDeviceSyncConfig();
RCLCPP_INFO_STREAM(logger_,
"Current sync mode: " << magic_enum::enum_name(sync_config.syncMode));
std::transform(sync_mode_str_.begin(), sync_mode_str_.end(), sync_mode_str_.begin(), ::toupper);
sync_mode_ = OBSyncModeFromString(sync_mode_str_);
sync_config.syncMode = sync_mode_;
@@ -471,7 +469,8 @@ void OBCameraNode::setupDevices() {
sync_config.framesPerTrigger = frames_per_trigger_;
TRY_EXECUTE_BLOCK(device_->setMultiDeviceSyncConfig(sync_config));
sync_config = device_->getMultiDeviceSyncConfig();
RCLCPP_INFO_STREAM(logger_, "Set sync mode: " << magic_enum::enum_name(sync_config.syncMode));
RCLCPP_INFO_STREAM(logger_,
"Current sync mode: " << magic_enum::enum_name(sync_config.syncMode));
if (sync_mode_ == OB_MULTI_DEVICE_SYNC_MODE_SOFTWARE_TRIGGERING) {
RCLCPP_INFO_STREAM(logger_, "Frames per trigger: " << sync_config.framesPerTrigger);
RCLCPP_INFO_STREAM(logger_,
@@ -924,8 +923,8 @@ void OBCameraNode::setupDevices() {
device_->isPropertySupported(OB_PROP_DEPTH_MAX_DIFF_INT, OB_PERMISSION_WRITE)) {
auto default_noise_removal_filter_min_diff =
device_->getIntProperty(OB_PROP_DEPTH_MAX_DIFF_INT);
RCLCPP_INFO_STREAM(logger_, "default noise removal filter min diff: "
<< default_noise_removal_filter_min_diff);
RCLCPP_DEBUG_STREAM(logger_, "default noise removal filter min diff: "
<< default_noise_removal_filter_min_diff);
if (noise_removal_filter_min_diff_ != -1 &&
default_noise_removal_filter_min_diff != noise_removal_filter_min_diff_) {
auto range = device_->getIntPropertyRange(OB_PROP_DEPTH_MAX_DIFF_INT);
@@ -949,8 +948,8 @@ void OBCameraNode::setupDevices() {
device_->isPropertySupported(OB_PROP_DEPTH_MAX_SPECKLE_SIZE_INT, OB_PERMISSION_WRITE)) {
auto default_noise_removal_filter_max_size =
device_->getIntProperty(OB_PROP_DEPTH_MAX_SPECKLE_SIZE_INT);
RCLCPP_INFO_STREAM(logger_, "default noise removal filter max size: "
<< default_noise_removal_filter_max_size);
RCLCPP_DEBUG_STREAM(logger_, "default noise removal filter max size: "
<< default_noise_removal_filter_max_size);
if (noise_removal_filter_max_size_ != -1 &&
default_noise_removal_filter_max_size != noise_removal_filter_max_size_) {
auto range = device_->getIntPropertyRange(OB_PROP_DEPTH_MAX_SPECKLE_SIZE_INT);