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refactor: improve logging for stream profiles and depth registration

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This commit is contained in:
ob-yalian
2026-01-13 17:23:08 +08:00
parent dbce96cd88
commit b092669641
1 changed files with 24 additions and 23 deletions
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orbbec_camera/src/ob_camera_node.cpp
+24 -23
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@@ -1337,13 +1337,6 @@ void OBCameraNode::setupProfiles() {
images_[elem] =
cv::Mat(height_[elem], width_[elem], image_format_[elem], cv::Scalar(0, 0, 0));
}
RCLCPP_INFO_STREAM(logger_,
" stream "
<< stream_name_[elem]
<< " is enabled - width: " << selected_profile->getWidth()
<< ", height: " << selected_profile->getHeight()
<< ", fps: " << selected_profile->getFps() << ", "
<< "Format: " << magic_enum::enum_name(selected_profile->getFormat()));
}
}
// IMU
@@ -2231,28 +2224,36 @@ void OBCameraNode::setupPipelineConfig() {
if (stream_index == COLOR && enable_stream_[COLOR] && align_filter_) {
auto video_profile = profile;
RCLCPP_INFO_STREAM(
logger_, "color video_profile: " << video_profile->getWidth() << "x"
<< video_profile->getHeight() << " "
<< video_profile->getFps() << "fps "
<< magic_enum::enum_name(video_profile->getFormat()));
align_filter_->setAlignToStreamProfile(video_profile);
}
if (enable_stream_[DEPTH] && enable_stream_[COLOR] && depth_registration_ &&
align_target_stream_ == OB_STREAM_COLOR && stream_index == DEPTH) {
auto profile = stream_profile_[COLOR]->as<ob::VideoStreamProfile>();
RCLCPP_INFO_STREAM(logger_,
"depth_registration is enabled. "
<< "Depth stream will be aligned to COLOR stream resolution:");
RCLCPP_INFO_STREAM(logger_, "Stream depth "
<< " width: " << profile->getWidth() << " height: "
<< profile->getHeight() << " fps: " << profile->getFps());
} else if (enable_stream_[DEPTH] && enable_stream_[COLOR] && depth_registration_ &&
align_target_stream_ == OB_STREAM_DEPTH && stream_index == COLOR) {
auto profile = stream_profile_[DEPTH]->as<ob::VideoStreamProfile>();
RCLCPP_INFO_STREAM(logger_,
"depth_registration is enabled. "
<< "Color stream will be aligned to DEPTH stream resolution:");
RCLCPP_INFO_STREAM(logger_, "Stream color "
<< " width: " << profile->getWidth() << " height: "
<< profile->getHeight() << " fps: " << profile->getFps());
} else {
RCLCPP_INFO_STREAM(
logger_, "Stream " << stream_name_[stream_index] << " width: " << profile->getWidth()
<< " height: " << profile->getHeight() << " fps: "
<< profile->getFps() << " format: " << profile->getFormat());
}
RCLCPP_INFO_STREAM(
logger_, "Stream " << stream_name_[stream_index] << " width: " << profile->getWidth()
<< " height: " << profile->getHeight() << " fps: " << profile->getFps()
<< " format: " << profile->getFormat());
pipeline_config_->enableStream(stream_profile_[stream_index]);
}
}
if (enable_stream_[DEPTH] && depth_registration_) {
auto profile = stream_profile_[COLOR]->as<ob::VideoStreamProfile>();
RCLCPP_INFO_STREAM(logger_, "depth_registration is enabled. "
<< "Depth stream will be aligned to COLOR stream resolution:"
<< " width: " << profile->getWidth() << " height: "
<< profile->getHeight() << " fps: " << profile->getFps());
}
if (frame_aggregate_mode_ == "full_frame") {
pipeline_config_->setFrameAggregateOutputMode(OB_FRAME_AGGREGATE_OUTPUT_FULL_FRAME_REQUIRE);