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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/src/dynamic_params.cpp
+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.
*******************************************************************************/
#include "orbbec_camera/dynamic_params.h"
namespace orbbec_camera {
orbbec_camera/src/jetson_nv_decoder.cpp
+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.
*******************************************************************************/
#include "orbbec_camera/jetson_nv_decoder.h"
#include <NvJpegDecoder.h>
#include <NvV4l2Element.h>
orbbec_camera/src/jpeg_decoder.cpp
+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.
*******************************************************************************/
#include <orbbec_camera/jpeg_decoder.h>
namespace orbbec_camera {
orbbec_camera/src/ob_lidar_node.cpp
+6 -7
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@@ -296,9 +296,9 @@ void OBLidarNode::setupProfiles() {
}
} catch (const ob::Error &ex) {
RCLCPP_ERROR_STREAM(
logger_, "Failed to get " << stream_name_[elem]
<< " profile: " << orbbec_camera::formatObErrorWithStatus(ex));
RCLCPP_ERROR_STREAM(logger_, "Failed to get "
<< stream_name_[elem] << " profile: "
<< orbbec_camera::formatObErrorWithStatus(ex));
RCLCPP_ERROR_STREAM(logger_, "Stream: " << magic_enum::enum_name(elem.first)
<< ", Stream Index: " << elem.second
<< ", Scan Rate: " << rate_[elem]
@@ -1262,10 +1262,9 @@ void OBLidarNode::calcAndPublishStaticTransform() {
ex = base_stream_profile->getExtrinsicTo(stream_profile_[GYRO]);
RCLCPP_INFO_STREAM(logger_, "Using GYRO extrinsic for IMU");
} catch (const ob::Error &e2) {
RCLCPP_ERROR_STREAM(
logger_, "Failed to get " << frame_id
<< " extrinsic from both ACCEL and GYRO: "
<< orbbec_camera::formatObErrorWithStatus(e2));
RCLCPP_ERROR_STREAM(logger_, "Failed to get "
<< frame_id << " extrinsic from both ACCEL and GYRO: "
<< orbbec_camera::formatObErrorWithStatus(e2));
ex = OBExtrinsic({{1, 0, 0, 0, 1, 0, 0, 0, 1}, {0, 0, 0}});
}
}
orbbec_camera/src/rk_mpp_decoder.cpp
+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.
*******************************************************************************/
#include "orbbec_camera/rk_mpp_decoder.h"
#include <rclcpp/rclcpp.hpp>
orbbec_camera/src/ros_service.cpp
+2 -2
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@@ -1495,8 +1495,8 @@ void OBCameraNode::switchIRCameraCallback(const std::shared_ptr<SetString::Reque
}
}
void OBCameraNode::exportConfigJsonCallback(const std::shared_ptr<SetString::Request> &request,
std::shared_ptr<SetString::Response> &response) {
void OBCameraNode::exportConfigJsonCallback(const std::shared_ptr<SetString::Request>& request,
std::shared_ptr<SetString::Response>& response) {
response->success = exportConfigJsonToFile(request->data, response->message);
}
orbbec_camera/src/synced_imu_publisher.cpp
+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.
*******************************************************************************/
#include "orbbec_camera/utils.h"
#include "orbbec_camera/synced_imu_publisher.h"
#include <rclcpp/rclcpp.hpp>