r200_nodelet.h

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#pragma once
#ifndef REALSENSE_CAMERA_R200_NODELET_H
#define REALSENSE_CAMERA_R200_NODELET_H

#include <string>
#include <vector>

#include <dynamic_reconfigure/server.h>

#include <realsense_camera/r200_paramsConfig.h>
#include <realsense_camera/sync_nodelet.h>

namespace realsense_camera
{
class R200Nodelet: public realsense_camera::SyncNodelet
{
public:
  void onInit();

protected:
  // Member Variables.
  rs_option edge_options_[4] =
  {
    RS_OPTION_R200_AUTO_EXPOSURE_LEFT_EDGE,
    RS_OPTION_R200_AUTO_EXPOSURE_TOP_EDGE,
    RS_OPTION_R200_AUTO_EXPOSURE_RIGHT_EDGE,
    RS_OPTION_R200_AUTO_EXPOSURE_BOTTOM_EDGE
  };
  boost::shared_ptr<dynamic_reconfigure::Server<realsense_camera::r200_paramsConfig>> dynamic_reconf_server_;

  rs_extrinsics color2ir2_extrinsic_;  // color frame is base frame

  // Member Functions.
  void getParameters();
  void advertiseTopics();
  std::vector<std::string> setDynamicReconfServer();
  void startDynamicReconfCallback();
  void setDynamicReconfigDepthControlPreset(int preset);
  std::string setDynamicReconfigDepthControlIndividuals();
  void configCallback(realsense_camera::r200_paramsConfig &config, uint32_t level);
  void getCameraExtrinsics();
  void publishStaticTransforms();
  void publishDynamicTransforms();
};
}  // namespace realsense_camera
#endif  // REALSENSE_CAMERA_R200_NODELET_H