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feat: enhance logging for filter parameters

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slz
2026-03-25 14:24:51 +08:00
parent b27318ed7b
commit e6655683f3
1 changed files with 16 additions and 11 deletions
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orbbec_camera/src/ob_camera_node.cpp
+16 -11
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@@ -1333,8 +1333,9 @@ void OBCameraNode::setupDepthPostProcessFilter() {
params.radius = spatial_moderate_filter_radius_;
params.disp_diff = spatial_moderate_filter_diff_threshold_;
RCLCPP_INFO_STREAM(logger_, "Set SpatialModerateFilter params: "
<< "magnitude=" << params.magnitude << ", radius="
<< params.radius << ", disp_diff=" << params.disp_diff);
<< "magnitude=" << static_cast<int>(params.magnitude)
<< ", radius=" << static_cast<int>(params.radius)
<< ", disp_diff=" << params.disp_diff);
spatial_moderate_filter->setFilterParams(params);
}
@@ -4618,9 +4619,11 @@ void OBCameraNode::setFilterCallback(const std::shared_ptr<SetFilter ::Request>
params.magnitude = request->filter_param[2];
params.radius = request->filter_param[3];
spatial_filter->setFilterParams(params);
RCLCPP_INFO_STREAM(logger_, "Set spatial filter params: "
<< "\nalpha:" << params.alpha << "\nradius:"
<< params.radius << "\ndisp_diff:" << params.disp_diff);
RCLCPP_INFO_STREAM(logger_, "Set SpatialAdvancedFilter params: "
<< "\nalpha:" << params.alpha
<< "\ndisp_diff:" << params.disp_diff
<< "\nmagnitude:" << static_cast<int>(params.magnitude)
<< "\nradius:" << params.radius);
} else {
response->message =
"The filter switch setting is successful, but the filter parameter setting fails";
@@ -4633,9 +4636,9 @@ void OBCameraNode::setFilterCallback(const std::shared_ptr<SetFilter ::Request>
if (request->filter_param.size() > 1) {
temporal_filter->setDiffScale(request->filter_param[0]);
temporal_filter->setWeight(request->filter_param[1]);
RCLCPP_INFO_STREAM(logger_, "Set temporal filter value to " << request->filter_param[0]
<< " - "
<< request->filter_param[1]);
RCLCPP_INFO_STREAM(logger_, "Set TemporalFilter params: "
<< "\ndiff_scale:" << request->filter_param[0]
<< "\nweight:" << request->filter_param[1]);
} else {
response->message =
"The filter switch setting is successful, but the filter parameter setting fails";
@@ -4649,7 +4652,8 @@ void OBCameraNode::setFilterCallback(const std::shared_ptr<SetFilter ::Request>
OBSpatialFastFilterParams params{};
params.radius = request->filter_param[0];
spatial_fast_filter->setFilterParams(params);
RCLCPP_INFO_STREAM(logger_, "Set SpatialFastFilter radius to " << params.radius);
RCLCPP_INFO_STREAM(logger_,
"Set SpatialFastFilter radius to " << static_cast<int>(params.radius));
} else {
response->message =
"The filter switch setting is successful, but the filter parameter setting fails";
@@ -4667,8 +4671,9 @@ void OBCameraNode::setFilterCallback(const std::shared_ptr<SetFilter ::Request>
params.radius = request->filter_param[2];
spatial_moderate_filter->setFilterParams(params);
RCLCPP_INFO_STREAM(logger_, "Set SpatialModerateFilter params: "
<< "\ndisp_diff:" << params.disp_diff << "\nmagnitude:"
<< params.magnitude << "\nradius:" << params.radius);
<< "\ndisp_diff:" << params.disp_diff
<< "\nmagnitude:" << static_cast<int>(params.magnitude)
<< "\nradius:" << static_cast<int>(params.radius));
} else {
response->message =
"The filter switch setting is successful, but the filter parameter setting fails";