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Refactor code for improved readability and consistency

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slz
2026-06-10 15:17:15 +08:00
parent 77695a78c8
commit 14b62847eb
23 changed files with 271 additions and 275 deletions
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orbbec_camera/include/orbbec_camera/d2c_viewer.h
+15 -15
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@@ -1,18 +1,18 @@
/*******************************************************************************
* Copyright (c) 2023 Orbbec 3D Technology, Inc
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*******************************************************************************/
* Copyright (c) 2023 Orbbec 3D Technology, Inc
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*******************************************************************************/
#pragma once
#include <message_filters/subscriber.h>
#include <message_filters/sync_policies/approximate_time.h>
@@ -30,7 +30,7 @@ class D2CViewer {
rmw_qos_profile_t depth_qos, bool use_intra_process = false);
~D2CViewer();
void messageCallback(const sensor_msgs::msg::Image::ConstSharedPtr & rgb_msg,
void messageCallback(const sensor_msgs::msg::Image::ConstSharedPtr& rgb_msg,
const sensor_msgs::msg::Image::ConstSharedPtr& depth_msg);
private:
orbbec_camera/include/orbbec_camera/dynamic_params.h
+14 -14
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@@ -1,18 +1,18 @@
/*******************************************************************************
* Copyright (c) 2023 Orbbec 3D Technology, Inc
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*******************************************************************************/
* Copyright (c) 2023 Orbbec 3D Technology, Inc
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*******************************************************************************/
#pragma once
#include <rclcpp/rclcpp.hpp>
orbbec_camera/include/orbbec_camera/jetson_nv_decoder.h
+14 -14
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@@ -1,18 +1,18 @@
/*******************************************************************************
* Copyright (c) 2023 Orbbec 3D Technology, Inc
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*******************************************************************************/
* Copyright (c) 2023 Orbbec 3D Technology, Inc
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*******************************************************************************/
#pragma once
#include "utils.h"
#include <opencv2/opencv.hpp>
orbbec_camera/include/orbbec_camera/jpeg_decoder.h
+14 -14
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@@ -1,18 +1,18 @@
/*******************************************************************************
* Copyright (c) 2023 Orbbec 3D Technology, Inc
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*******************************************************************************/
* Copyright (c) 2023 Orbbec 3D Technology, Inc
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*******************************************************************************/
#pragma once
#include <string>
orbbec_camera/include/orbbec_camera/ob_camera_node.h
+14 -14
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@@ -239,9 +239,9 @@ class OBCameraNode {
void captureInitialRosParameters();
bool isLaunchParamProvided(const std::string &param_name) const;
bool isLaunchParamProvided(const std::string& param_name) const;
bool exportConfigJsonToFile(const std::string &file_path, std::string &message);
bool exportConfigJsonToFile(const std::string& file_path, std::string& message);
void exportConfigJsonIfRequested();
@@ -249,8 +249,8 @@ class OBCameraNode {
void syncConfigJsonDeviceSettings();
void syncConfigJsonFilterSettings(const std::vector<std::shared_ptr<ob::Filter>> &filters,
const std::string &sensor_name);
void syncConfigJsonFilterSettings(const std::vector<std::shared_ptr<ob::Filter>>& filters,
const std::string& sensor_name);
void setupProfiles();
@@ -282,19 +282,19 @@ class OBCameraNode {
void publishDepthFiltersStatus();
DepthFilterState buildDepthFilterState(const std::string &filter_name, bool enabled,
const std::shared_ptr<ob::Filter> &filter) const;
DepthFilterState buildDepthFilterState(const std::string& filter_name, bool enabled,
const std::shared_ptr<ob::Filter>& filter) const;
static std::string normalizeDepthFilterName(const std::string &filter_name);
static std::string normalizeDepthFilterName(const std::string& filter_name);
static void appendDepthFilterParam(DepthFilterState &filter_state, const std::string &name,
const std::string &value);
static void appendDepthFilterParam(DepthFilterState& filter_state, const std::string& name,
const std::string& value);
void updateDepthFilterEnabledCache(const std::string &filter_name, bool enabled);
void updateDepthFilterEnabledCache(const std::string& filter_name, bool enabled);
bool applyNamedDepthFilterConfig(
const std::string &filter_name, bool enabled,
const std::vector<orbbec_camera_msgs::msg::DepthFilterParam> &params, std::string &message);
const std::string& filter_name, bool enabled,
const std::vector<orbbec_camera_msgs::msg::DepthFilterParam>& params, std::string& message);
void setupCameraInfo();
@@ -435,8 +435,8 @@ class OBCameraNode {
void switchIRCameraCallback(const std::shared_ptr<SetString::Request>& request,
std::shared_ptr<SetString::Response>& response);
void exportConfigJsonCallback(const std::shared_ptr<SetString::Request> &request,
std::shared_ptr<SetString::Response> &response);
void exportConfigJsonCallback(const std::shared_ptr<SetString::Request>& request,
std::shared_ptr<SetString::Response>& response);
bool writeCustomerData(const std::string& data);
orbbec_camera/include/orbbec_camera/rk_mpp_decoder.h
+14 -14
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@@ -1,18 +1,18 @@
/*******************************************************************************
* Copyright (c) 2023 Orbbec 3D Technology, Inc
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*******************************************************************************/
* Copyright (c) 2023 Orbbec 3D Technology, Inc
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*******************************************************************************/
#pragma once
#include "jpeg_decoder.h"
orbbec_camera/include/orbbec_camera/synced_imu_publisher.h
+14 -14
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@@ -1,18 +1,18 @@
/*******************************************************************************
* Copyright (c) 2023 Orbbec 3D Technology, Inc
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*******************************************************************************/
* Copyright (c) 2023 Orbbec 3D Technology, Inc
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*******************************************************************************/
#pragma once
#include <rclcpp/rclcpp.hpp>
orbbec_camera/include/orbbec_camera/utils.h
+16 -16
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@@ -71,20 +71,21 @@ inline std::string formatObErrorWithStatus(const ob::Error& e) {
RCLCPP_ERROR(logger_, "Unknown exception in %s at line %d", __FUNCTION__, __LINE__); \
}
#define TRY_TO_SET_PROPERTY(func, property, value) \
try { \
device_->func(property, value); \
} catch (const ob::Error& e) { \
RCLCPP_ERROR_STREAM(logger_, "Failed to set " << property << " to " << value << " in " \
<< __FUNCTION__ << " at line " << __LINE__ \
<< ": " << orbbec_camera::formatObErrorWithStatus(e)); \
} catch (const std::exception& e) { \
RCLCPP_ERROR_STREAM(logger_, "Failed to set " << property << " to " << value << " in " \
<< __FUNCTION__ << " at line " << __LINE__ \
<< ": " << e.what()); \
} catch (...) { \
RCLCPP_ERROR_STREAM(logger_, "Failed to set " << property << " to " << value << " in " \
<< __FUNCTION__ << " at line " << __LINE__); \
#define TRY_TO_SET_PROPERTY(func, property, value) \
try { \
device_->func(property, value); \
} catch (const ob::Error& e) { \
RCLCPP_ERROR_STREAM(logger_, "Failed to set " << property << " to " << value << " in " \
<< __FUNCTION__ << " at line " << __LINE__ \
<< ": " \
<< orbbec_camera::formatObErrorWithStatus(e)); \
} catch (const std::exception& e) { \
RCLCPP_ERROR_STREAM(logger_, "Failed to set " << property << " to " << value << " in " \
<< __FUNCTION__ << " at line " << __LINE__ \
<< ": " << e.what()); \
} catch (...) { \
RCLCPP_ERROR_STREAM(logger_, "Failed to set " << property << " to " << value << " in " \
<< __FUNCTION__ << " at line " << __LINE__); \
}
// Macros for checking conditions and comparing values
@@ -168,8 +169,7 @@ OBLogSeverity obLogSeverityFromString(const std::string_view& log_level);
std::string getObSdkLogDirectory();
std::string configureObSdkLoggerForTool(const std::string& tool_name,
const std::string& log_level);
std::string configureObSdkLoggerForTool(const std::string& tool_name, const std::string& log_level);
OBFormat OBFormatFromString(const std::string& format);