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set log_level to warning

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datean
2024-11-29 17:26:42 +08:00
parent 22836ddb89
commit 0ba9fbbff4
3 changed files with 16 additions and 12 deletions
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orbbec_camera/config/camera_params.yaml
+1
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@@ -7,6 +7,7 @@ laser_on_off_mode: 0 # 0: off, 1: on-off, 1: off-on
time_domain: "global" # global, device, system time_domain: "global" # global, device, system
enable_sync_host_time: true enable_sync_host_time: true
frames_per_trigger: 1 frames_per_trigger: 1
log_level: "warning"
# When 3D reconstruction mode is enabled: # When 3D reconstruction mode is enabled:
# - The laser will switch to on-off mode # - The laser will switch to on-off mode
orbbec_camera/src/ob_camera_node.cpp
+9 -7
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@@ -545,13 +545,13 @@ void OBCameraNode::setupDepthPostProcessFilter() {
} else if (filter_name == "NoiseRemovalFilter" && enable_noise_removal_filter_) { } else if (filter_name == "NoiseRemovalFilter" && enable_noise_removal_filter_) {
auto noise_removal_filter = filter->as<ob::NoiseRemovalFilter>(); auto noise_removal_filter = filter->as<ob::NoiseRemovalFilter>();
OBNoiseRemovalFilterParams params = noise_removal_filter->getFilterParams(); OBNoiseRemovalFilterParams params = noise_removal_filter->getFilterParams();
RCLCPP_INFO_STREAM( RCLCPP_INFO_STREAM(logger_, "Default noise removal filter params: "
logger_, "Default noise removal filter params: " << "disp_diff: " << params.disp_diff << "disp_diff: " << params.disp_diff
<< ", max_size: " << params.max_size); << ", max_size: " << params.max_size);
params.disp_diff = noise_removal_filter_min_diff_; params.disp_diff = noise_removal_filter_min_diff_;
params.max_size = noise_removal_filter_max_size_; params.max_size = noise_removal_filter_max_size_;
RCLCPP_INFO_STREAM(logger_, RCLCPP_INFO_STREAM(logger_, "Set noise removal filter params: "
"Set noise removal filter params: " << "disp_diff: " << params.disp_diff << "disp_diff: " << params.disp_diff
<< ", max_size: " << params.max_size); << ", max_size: " << params.max_size);
if (noise_removal_filter_min_diff_ != -1 && noise_removal_filter_max_size_ != -1) { if (noise_removal_filter_min_diff_ != -1 && noise_removal_filter_max_size_ != -1) {
noise_removal_filter->setFilterParams(params); noise_removal_filter->setFilterParams(params);
@@ -561,8 +561,8 @@ void OBCameraNode::setupDepthPostProcessFilter() {
hdr_merge_gain_2_ != -1) { hdr_merge_gain_2_ != -1) {
auto hdr_merge_filter = filter->as<ob::HdrMerge>(); auto hdr_merge_filter = filter->as<ob::HdrMerge>();
hdr_merge_filter->enable(true); hdr_merge_filter->enable(true);
RCLCPP_INFO_STREAM( RCLCPP_INFO_STREAM(logger_, "Set HDR merge filter params: "
logger_, "Set HDR merge filter params: " << "exposure_1: " << hdr_merge_exposure_1_ << "exposure_1: " << hdr_merge_exposure_1_
<< ", gain_1: " << hdr_merge_gain_1_ << ", gain_1: " << hdr_merge_gain_1_
<< ", exposure_2: " << hdr_merge_exposure_2_ << ", exposure_2: " << hdr_merge_exposure_2_
<< ", gain_2: " << hdr_merge_gain_2_); << ", gain_2: " << hdr_merge_gain_2_);
@@ -2093,7 +2093,9 @@ void OBCameraNode::updateStreamInfo(const std::shared_ptr<ob::Frame> &frame,
if (stream_info.frame_rate < (dst_fps - delta_fps)) { if (stream_info.frame_rate < (dst_fps - delta_fps)) {
RCLCPP_INFO_STREAM(logger_, "[INFO] Frame rate for frame_type " RCLCPP_INFO_STREAM(logger_, "[INFO] Frame rate for frame_type "
<< stream_info.frame_type << ": " << stream_info.frame_rate << stream_info.frame_type << ": " << stream_info.frame_rate
<< " FPS\n"); << " FPS"
<< " frames_in_interval " << frames_in_interval
<< " elapsed_seconds " << elapsed_seconds << "\n");
} }
stream_info.last_fps_calculation_time = current_timestamp; stream_info.last_fps_calculation_time = current_timestamp;
orbbec_camera/src/ob_camera_node_driver.cpp
+1
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@@ -125,6 +125,7 @@ void OBCameraNodeDriver::init() {
} }
auto log_level_str = declare_parameter<std::string>("log_level", "none"); auto log_level_str = declare_parameter<std::string>("log_level", "none");
std::cout << "=========log_level_str " << log_level_str << std::endl;
auto log_level = obLogSeverityFromString(log_level_str); auto log_level = obLogSeverityFromString(log_level_str);
connection_delay_ = static_cast<int>(declare_parameter<int>("connection_delay", 100)); connection_delay_ = static_cast<int>(declare_parameter<int>("connection_delay", 100));
enable_sync_host_time_ = declare_parameter<bool>("enable_sync_host_time", true); enable_sync_host_time_ = declare_parameter<bool>("enable_sync_host_time", true);