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refactor: remove unnecessary logging in setFilterCallback

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This commit is contained in:
slz
2026-04-15 11:33:38 +08:00
committed by ob-yalian
parent 75afca130e
commit fd6ac7f795
1 changed files with 4 additions and 12 deletions
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orbbec_camera/src/ob_camera_node.cpp
+4 -12
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@@ -4901,27 +4901,19 @@ void OBCameraNode::setFilterCallback(const std::shared_ptr<SetFilter ::Request>
}
if (request->filter_param.size() > 1) {
if (device_->isPropertySupported(OB_PROP_DEPTH_MAX_DIFF_INT, OB_PERMISSION_WRITE)) {
auto default_noise_removal_filter_min_diff =
device_->getIntProperty(OB_PROP_DEPTH_MAX_DIFF_INT);
RCLCPP_INFO_STREAM(logger_, "default_noise_removal_filter_min_diff: "
<< default_noise_removal_filter_min_diff);
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_, "Set noise_removal_filter_min_diff: "
<< new_noise_removal_filter_min_diff);
noise_removal_filter_min_diff_ = request->filter_param[0];
}
if (device_->isPropertySupported(OB_PROP_DEPTH_MAX_SPECKLE_SIZE_INT,
OB_PERMISSION_WRITE)) {
auto default_noise_removal_filter_max_size =
device_->getIntProperty(OB_PROP_DEPTH_MAX_SPECKLE_SIZE_INT);
RCLCPP_INFO_STREAM(logger_, "default_noise_removal_filter_max_size: "
<< default_noise_removal_filter_max_size);
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_, "Set noise_removal_filter_max_size: "
<< new_noise_removal_filter_max_size);
noise_removal_filter_max_size_ = request->filter_param[1];
}
@@ -4933,14 +4925,14 @@ void OBCameraNode::setFilterCallback(const std::shared_ptr<SetFilter ::Request>
device_->setBoolProperty(OB_PROP_HW_NOISE_REMOVE_FILTER_ENABLE_BOOL,
request->filter_enable);
RCLCPP_INFO_STREAM(logger_,
"Setting hardware_noise_removal_filter:" << request->filter_enable);
"Set hardware_noise_removal_filter:" << request->filter_enable);
if (request->filter_param.size() > 0 &&
device_->isPropertySupported(OB_PROP_HW_NOISE_REMOVE_FILTER_THRESHOLD_FLOAT,
OB_PERMISSION_READ_WRITE)) {
if (request->filter_enable) {
device_->setFloatProperty(OB_PROP_HW_NOISE_REMOVE_FILTER_THRESHOLD_FLOAT,
request->filter_param[0]);
RCLCPP_INFO_STREAM(logger_, "Setting hardware_noise_removal_filter_threshold :"
RCLCPP_INFO_STREAM(logger_, "Set hardware_noise_removal_filter_threshold :"
<< request->filter_param[0]);
hardware_noise_removal_filter_threshold_ = request->filter_param[0];
}