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remove big try catch block

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This commit is contained in:
Joe Dong
2024-07-31 10:59:10 +08:00
parent c8c00ebc7f
commit 1c6a439a56
2 changed files with 340 additions and 327 deletions
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orbbec_camera/include/orbbec_camera/ob_camera_node.h
+4 -3
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@@ -143,7 +143,7 @@ class OBCameraNode {
void clean() noexcept;
void rebootDevice();
void rebootDevice();
void startStreams();
@@ -296,7 +296,7 @@ class OBCameraNode {
std::shared_ptr<ob::Frame> processDepthFrameFilter(std::shared_ptr<ob::Frame>& frame);
uint64_t getFrameTimestampUs(const std::shared_ptr<ob::Frame> & frame);
uint64_t getFrameTimestampUs(const std::shared_ptr<ob::Frame>& frame);
void onNewFrameSetCallback(std::shared_ptr<ob::FrameSet> frame_set);
@@ -556,9 +556,10 @@ class OBCameraNode {
bool enable_3d_reconstruction_mode_ = false;
int min_depth_limit_ = 0;
int max_depth_limit_ = 0;
std::string time_domain_ = "device"; // device, system, global
std::string time_domain_ = "device"; // device, system, global
// soft ware trigger
rclcpp::TimerBase::SharedPtr software_trigger_timer_;
std::chrono::milliseconds software_trigger_period_{33};
bool enable_heartbeat_ = false;
};
} // namespace orbbec_camera