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refactor: improve logging messages for clarity and consistency in camera node

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slz
2026-04-10 17:20:34 +08:00
parent 0035c0b18c
commit 8ec0632b4d
3 changed files with 19 additions and 22 deletions
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orbbec_camera/src/ob_camera_node.cpp
+8 -7
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@@ -938,7 +938,7 @@ void OBCameraNode::setupDevices() {
device_->setIntProperty(OB_PROP_DEPTH_MAX_DIFF_INT, noise_removal_filter_min_diff_);
auto new_noise_removal_filter_min_diff =
device_->getIntProperty(OB_PROP_DEPTH_MAX_DIFF_INT);
RCLCPP_INFO_STREAM(logger_, "after set noise removal filter min diff: "
RCLCPP_INFO_STREAM(logger_, "Updated noise removal filter min diff: "
<< new_noise_removal_filter_min_diff);
}
}
@@ -963,7 +963,7 @@ void OBCameraNode::setupDevices() {
device_->setIntProperty(OB_PROP_DEPTH_MAX_SPECKLE_SIZE_INT, noise_removal_filter_max_size_);
auto new_noise_removal_filter_max_size =
device_->getIntProperty(OB_PROP_DEPTH_MAX_SPECKLE_SIZE_INT);
RCLCPP_INFO_STREAM(logger_, "after set noise removal filter max size: "
RCLCPP_INFO_STREAM(logger_, "Updated noise removal filter max size: "
<< new_noise_removal_filter_max_size);
}
}
@@ -3194,7 +3194,7 @@ void OBCameraNode::setDisparitySearchOffset() {
if (device_->isPropertySupported(OB_PROP_DISP_SEARCH_OFFSET_INT, OB_PERMISSION_WRITE)) {
if (disparity_search_offset_ >= 0 && disparity_search_offset_ <= 127) {
device_->setIntProperty(OB_PROP_DISP_SEARCH_OFFSET_INT, disparity_search_offset_);
RCLCPP_INFO_STREAM(logger_, "disparity_search_offset: " << disparity_search_offset_);
RCLCPP_INFO_STREAM(logger_, "Set disparity search offset to " << disparity_search_offset_);
}
if (offset_index0_ >= 0 && offset_index0_ <= 127 && offset_index1_ >= 0 &&
offset_index1_ <= 127) {
@@ -4586,8 +4586,9 @@ void OBCameraNode::setFilterCallback(const std::shared_ptr<SetFilter ::Request>
return;
}
RCLCPP_INFO_STREAM(logger_, "filter_name: " << request->filter_name << " filter_enable: "
<< (request->filter_enable ? "true" : "false"));
RCLCPP_INFO_STREAM(logger_, "Filter update request: name="
<< request->filter_name
<< ", enabled=" << (request->filter_enable ? "true" : "false"));
auto it = std::remove_if(depth_filter_list_.begin(), depth_filter_list_.end(),
[&request](const std::shared_ptr<ob::Filter> &filter) {
return filter->getName() == request->filter_name;
@@ -4683,7 +4684,7 @@ void OBCameraNode::setFilterCallback(const std::shared_ptr<SetFilter ::Request>
device_->setIntProperty(OB_PROP_DEPTH_MAX_DIFF_INT, request->filter_param[0]);
auto new_noise_removal_filter_min_diff =
device_->getIntProperty(OB_PROP_DEPTH_MAX_DIFF_INT);
RCLCPP_INFO_STREAM(logger_, "after set noise removal filter min diff: "
RCLCPP_INFO_STREAM(logger_, "Updated noise removal filter min diff: "
<< new_noise_removal_filter_min_diff);
}
if (device_->isPropertySupported(OB_PROP_DEPTH_MAX_SPECKLE_SIZE_INT, OB_PERMISSION_WRITE)) {
@@ -4694,7 +4695,7 @@ void OBCameraNode::setFilterCallback(const std::shared_ptr<SetFilter ::Request>
device_->setIntProperty(OB_PROP_DEPTH_MAX_SPECKLE_SIZE_INT, request->filter_param[1]);
auto new_noise_removal_filter_max_size =
device_->getIntProperty(OB_PROP_DEPTH_MAX_SPECKLE_SIZE_INT);
RCLCPP_INFO_STREAM(logger_, "after set noise removal filter max size: "
RCLCPP_INFO_STREAM(logger_, "Updated noise removal filter max size: "
<< new_noise_removal_filter_max_size);
}
} else {