#include <cstdlib>
#include <cctype>
#include <sstream>
#include <iostream>
#include <vector>
#include <map>
#include <string>
#include <sensor_msgs/PointCloud2.h>
#include <sensor_msgs/Imu.h>
#include <sensor_msgs/point_cloud2_iterator.h>
#include <sensor_msgs/image_encodings.h>
#include <image_transport/image_transport.h>
#include <camera_info_manager/camera_info_manager.h>
#include <std_msgs/String.h>
#include <ros/ros.h>
#include <pcl/conversions.h>
#include <pcl/point_cloud.h>
#include <pcl/point_types.h>
#include <pcl/PCLPointCloud2.h>
#include <pcl_conversions/pcl_conversions.h>
#include <std_msgs/Float32MultiArray.h>
#include <cv_bridge/cv_bridge.h>
#include <realsense_camera/CameraConfiguration.h>
#include <realsense_camera/IsPowered.h>
#include <realsense_camera/SetPower.h>
#include <realsense_camera/ForcePower.h>
#include <tf/transform_listener.h>
#include <librealsense/rs.h>
#include <realsense_camera/constants.h>

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Variables
image_transport::CameraSubscriber	g_camera_subscriber [STREAM_COUNT]
std::string	g_camera_type
int	g_caminfo_height_recv [STREAM_COUNT] = {0}
double	g_caminfo_projection_recv [STREAM_COUNT][12] = {{0.0}}
double	g_caminfo_rotation_recv [STREAM_COUNT][9] = {{0.0}}
int	g_caminfo_width_recv [STREAM_COUNT] = {0}
float	g_color_avg = 0.0f
double	g_color_caminfo_D_recv [5] = {0.0}
std::string	g_color_encoding_exp
int	g_color_height_exp = 0
bool	g_color_recv = false
uint32_t	g_color_step_exp
int	g_color_width_exp = 0
std::map< std::string, std::string >	g_config_args
float	g_depth_avg = 0.0f
double	g_depth_caminfo_D_recv [5] = {0.0}
std::string	g_depth_encoding_exp
int	g_depth_height_exp = 0
bool	g_depth_recv = false
uint32_t	g_depth_step_exp
int	g_depth_width_exp = 0
std::string	g_dmodel_recv [STREAM_COUNT]
bool	g_enable_color = true
bool	g_enable_depth = true
bool	g_enable_fisheye = false
bool	g_enable_imu = false
bool	g_enable_ir = false
bool	g_enable_ir2 = false
bool	g_enable_pointcloud = false
std::string	g_encoding_recv [STREAM_COUNT]
float	g_fisheye_avg = 0.0f
double	g_fisheye_caminfo_D_recv [5] = {0.0}
bool	g_fisheye_recv = false
realsense_camera::ForcePower	g_forcepower_srv
ros::ServiceClient	g_forcepower_srv_client
int	g_height_recv [STREAM_COUNT] = {0}
bool	g_imu_recv = false
float	g_infrared1_avg = 0.0f
double	g_infrared1_caminfo_D_recv [5] = {0.0}
std::string	g_infrared1_encoding_exp
bool	g_infrared1_recv = false
uint32_t	g_infrared1_step_exp
float	g_infrared2_avg = 0.0f
double	g_infrared2_caminfo_D_recv [5] = {0.0}
bool	g_infrared2_recv = false
realsense_camera::IsPowered	g_ispowered_srv
ros::ServiceClient	g_ispowered_srv_client
double	g_max_z = R200_MAX_Z * 1000.0f
float	g_pc_depth_avg = 0.0f
bool	g_pc_recv = false
realsense_camera::SetPower	g_setpower_srv
ros::ServiceClient	g_setpower_srv_client
realsense_camera::CameraConfiguration	g_setting_srv
ros::ServiceClient	g_settings_srv_client
uint32_t	g_step_recv [STREAM_COUNT] = {0}
ros::Subscriber	g_sub_imu
ros::Subscriber	g_sub_pc
int	g_width_recv [STREAM_COUNT] = {0}