camera_core.h File Reference

#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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Macros
#define	CAMERA_CORE_H

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}

Macro Definition Documentation

#define CAMERA_CORE_H

Definition at line 33 of file camera_core.h.

Variable Documentation

image_transport::CameraSubscriber g_camera_subscriber[STREAM_COUNT]

Definition at line 91 of file camera_core.h.

std::string g_camera_type

Definition at line 136 of file camera_core.h.

int g_caminfo_height_recv[STREAM_COUNT] = {0}

Definition at line 124 of file camera_core.h.

double g_caminfo_projection_recv[STREAM_COUNT][12] = {{0.0}}

Definition at line 133 of file camera_core.h.

double g_caminfo_rotation_recv[STREAM_COUNT][9] = {{0.0}}

Definition at line 132 of file camera_core.h.

int g_caminfo_width_recv[STREAM_COUNT] = {0}

Definition at line 125 of file camera_core.h.

float g_color_avg = 0.0f

Definition at line 112 of file camera_core.h.

double g_color_caminfo_D_recv[5] = {0.0}

Definition at line 126 of file camera_core.h.

std::string g_color_encoding_exp

Definition at line 88 of file camera_core.h.

int g_color_height_exp = 0

Definition at line 71 of file camera_core.h.

bool g_color_recv = false

Definition at line 104 of file camera_core.h.

uint32_t g_color_step_exp

Definition at line 76 of file camera_core.h.

int g_color_width_exp = 0

Definition at line 72 of file camera_core.h.

std::map<std::string, std::string> g_config_args

Definition at line 100 of file camera_core.h.

float g_depth_avg = 0.0f

Definition at line 111 of file camera_core.h.

double g_depth_caminfo_D_recv[5] = {0.0}

Definition at line 127 of file camera_core.h.

std::string g_depth_encoding_exp

Definition at line 87 of file camera_core.h.

int g_depth_height_exp = 0

Definition at line 73 of file camera_core.h.

bool g_depth_recv = false

Definition at line 103 of file camera_core.h.

uint32_t g_depth_step_exp

Definition at line 75 of file camera_core.h.

int g_depth_width_exp = 0

Definition at line 74 of file camera_core.h.

std::string g_dmodel_recv[STREAM_COUNT]

Definition at line 135 of file camera_core.h.

bool g_enable_color = true

Definition at line 79 of file camera_core.h.

bool g_enable_depth = true

Definition at line 80 of file camera_core.h.

bool g_enable_fisheye = false

Definition at line 81 of file camera_core.h.

bool g_enable_imu = false

Definition at line 82 of file camera_core.h.

bool g_enable_ir = false

Definition at line 84 of file camera_core.h.

bool g_enable_ir2 = false

Definition at line 85 of file camera_core.h.

bool g_enable_pointcloud = false

Definition at line 83 of file camera_core.h.

std::string g_encoding_recv[STREAM_COUNT]

Definition at line 122 of file camera_core.h.

float g_fisheye_avg = 0.0f

Definition at line 115 of file camera_core.h.

double g_fisheye_caminfo_D_recv[5] = {0.0}

Definition at line 130 of file camera_core.h.

bool g_fisheye_recv = false

Definition at line 107 of file camera_core.h.

realsense_camera::ForcePower g_forcepower_srv

Definition at line 141 of file camera_core.h.

ros::ServiceClient g_forcepower_srv_client

Definition at line 98 of file camera_core.h.

int g_height_recv[STREAM_COUNT] = {0}

Definition at line 118 of file camera_core.h.

bool g_imu_recv = false

Definition at line 108 of file camera_core.h.

float g_infrared1_avg = 0.0f

Definition at line 113 of file camera_core.h.

double g_infrared1_caminfo_D_recv[5] = {0.0}

Definition at line 128 of file camera_core.h.

std::string g_infrared1_encoding_exp

Definition at line 89 of file camera_core.h.

bool g_infrared1_recv = false

Definition at line 105 of file camera_core.h.

uint32_t g_infrared1_step_exp

Definition at line 77 of file camera_core.h.

float g_infrared2_avg = 0.0f

Definition at line 114 of file camera_core.h.

double g_infrared2_caminfo_D_recv[5] = {0.0}

Definition at line 129 of file camera_core.h.

bool g_infrared2_recv = false

Definition at line 106 of file camera_core.h.

realsense_camera::IsPowered g_ispowered_srv

Definition at line 139 of file camera_core.h.

ros::ServiceClient g_ispowered_srv_client

Definition at line 96 of file camera_core.h.

double g_max_z = R200_MAX_Z * 1000.0f

Definition at line 101 of file camera_core.h.

float g_pc_depth_avg = 0.0f

Definition at line 116 of file camera_core.h.

bool g_pc_recv = false

Definition at line 109 of file camera_core.h.

realsense_camera::SetPower g_setpower_srv

Definition at line 140 of file camera_core.h.

ros::ServiceClient g_setpower_srv_client

Definition at line 97 of file camera_core.h.

realsense_camera::CameraConfiguration g_setting_srv

Definition at line 138 of file camera_core.h.

ros::ServiceClient g_settings_srv_client

Definition at line 95 of file camera_core.h.

uint32_t g_step_recv[STREAM_COUNT] = {0}

Definition at line 120 of file camera_core.h.

ros::Subscriber g_sub_imu

Definition at line 92 of file camera_core.h.

ros::Subscriber g_sub_pc

Definition at line 93 of file camera_core.h.

int g_width_recv[STREAM_COUNT] = {0}

Definition at line 119 of file camera_core.h.