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remove unused code

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This commit is contained in:
Joe Dong
2022-12-28 15:12:04 +08:00
parent 470ebe1c5f
commit 02cc12518b
2 changed files with 12 additions and 108 deletions
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orbbec_camera/include/orbbec_camera/ob_camera_node.h
+12 -22
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@@ -140,17 +140,6 @@ class OBCameraNode {
std::optional<OBCameraParam> findDefaultCameraParam();
std::optional<OBCameraParam> findStreamDefaultCameraParam(const stream_index_pair& stream);
std::optional<OBCameraParam> findStreamCameraParam(const stream_index_pair& stream,
uint32_t width, uint32_t height);
std::optional<OBCameraParam> findCameraParam(uint32_t color_width, uint32_t color_height,
uint32_t depth_width, uint32_t depth_height);
std::optional<OBCameraParam> findDepthCameraParam(uint32_t width, uint32_t height);
std::optional<OBCameraParam> findColorCameraParam(uint32_t width, uint32_t height);
void getExposureCallback(const std::shared_ptr<GetInt32::Request>& request,
std::shared_ptr<GetInt32::Response>& response,
const stream_index_pair& stream_index);
@@ -275,15 +264,21 @@ class OBCameraNode {
std::map<stream_index_pair, rclcpp::Service<GetInt32>::SharedPtr> get_gain_srv_;
std::map<stream_index_pair, rclcpp::Service<SetInt32>::SharedPtr> set_gain_srv_;
std::map<stream_index_pair, rclcpp::Service<SetBool>::SharedPtr> toggle_sensor_srv_;
rclcpp::Service<GetInt32>::SharedPtr get_white_balance_srv_; // only rgb
rclcpp::Service<GetInt32>::SharedPtr get_white_balance_srv_;
rclcpp::Service<SetInt32>::SharedPtr set_white_balance_srv_;
rclcpp::Service<GetInt32>::SharedPtr get_auto_white_balance_srv_; // only rgb
rclcpp::Service<GetInt32>::SharedPtr get_auto_white_balance_srv_;
rclcpp::Service<SetBool>::SharedPtr set_auto_white_balance_srv_;
rclcpp::Service<GetString>::SharedPtr get_sdk_version_srv_;
std::map<stream_index_pair, rclcpp::Service<std_srvs::srv::SetBool>::SharedPtr>
set_auto_exposure_srv_; // only rgb color
set_auto_exposure_srv_;
rclcpp::Service<GetDeviceInfo>::SharedPtr get_device_srv_;
rclcpp::Service<std_srvs::srv::SetBool>::SharedPtr set_laser_enable_srv_;
rclcpp::Service<std_srvs::srv::SetBool>::SharedPtr set_ldp_enable_srv_;
rclcpp::Service<std_srvs::srv::SetBool>::SharedPtr set_floor_enable_srv_;
rclcpp::Service<SetInt32>::SharedPtr set_fan_mode_srv_;
rclcpp::Service<std_srvs::srv::SetBool>::SharedPtr toggle_sensors_srv_;
bool publish_tf_;
bool publish_tf_ = false;
std::shared_ptr<tf2_ros::StaticTransformBroadcaster> static_tf_broadcaster_;
std::shared_ptr<tf2_ros::TransformBroadcaster> dynamic_tf_broadcaster_;
std::vector<geometry_msgs::msg::TransformStamped> tf_msgs;
@@ -294,15 +289,10 @@ class OBCameraNode {
sensor_msgs::msg::PointCloud2 point_cloud_msg_;
rclcpp::Publisher<Extrinsics>::SharedPtr extrinsics_publisher_;
rclcpp::Service<std_srvs::srv::SetBool>::SharedPtr toggle_sensors_srv_;
orbbec_camera_msgs::msg::DeviceInfo device_info_;
rclcpp::Service<GetDeviceInfo>::SharedPtr get_device_srv_;
rclcpp::Service<std_srvs::srv::SetBool>::SharedPtr set_laser_enable_srv_;
rclcpp::Service<std_srvs::srv::SetBool>::SharedPtr set_ldp_enable_srv_;
rclcpp::Service<std_srvs::srv::SetBool>::SharedPtr set_floor_enable_srv_;
rclcpp::Service<SetInt32>::SharedPtr set_fan_mode_srv_;
std::vector<geometry_msgs::msg::TransformStamped> static_tf_msgs_;
std::shared_ptr<std::thread> tf_thread_;
std::shared_ptr<std::thread> tf_thread_ = nullptr;
std::condition_variable tf_cv_;
double tf_publish_rate_ = 10.0;
};