#include <stdio.h>
#include <signal.h>
#include <vector>
#include <exception>
#include <iostream>
#include <iomanip>
#include <fstream>
#include <ros/ros.h>
#include <ros/callback_queue.h>
#include <std_msgs/Int32.h>
#include <sensor_msgs/PointCloud2.h>
#include <sensor_msgs/point_cloud_conversion.h>
#include <image_transport/image_transport.h>
#include <pcl_ros/point_cloud.h>
#include <pcl_ros/io/pcd_io.h>
#include <pcl/io/io.h>
#include <pcl/point_types.h>
#include <pcl/range_image/range_image.h>
#include <pcl/filters/radius_outlier_removal.h>
#include <pcl/filters/voxel_grid.h>
#include <pcl/filters/passthrough.h>
#include <pcl/filters/frustum_culling.h>
#include <message_filters/subscriber.h>
#include <message_filters/time_synchronizer.h>
#include <message_filters/sync_policies/approximate_time.h>
#include <cv_bridge/cv_bridge.h>
#include <opencv2/imgproc/imgproc.hpp>
#include <sensor_msgs/image_encodings.h>
#include <camera_info_manager/camera_info_manager.h>
#include <dynamic_reconfigure/server.h>
#include <softkinetic_camera/SoftkineticConfig.h>
#include <DepthSense.hxx>

Include dependency graph for softkinetic_start.cpp:

Functions
DepthSense::CompressionType	colorCompression (const std::string &color_compression_str)
DepthSense::FrameFormat	colorFrameFormat (const std::string &color_frame_format_str)
void	configureAudioNode ()
void	configureColorNode ()
void	configureDepthNode ()
void	configureNode (Node node)
DepthSense::FrameFormat	depthFrameFormat (const std::string &depth_frame_format_str)
DepthSense::DepthNode::CameraMode	depthMode (const std::string &depth_mode_str)
void	downsampleCloud (pcl::PointCloud< pcl::PointXYZRGB >::Ptr cloud_to_filter)
void	filterCloudRadiusBased (pcl::PointCloud< pcl::PointXYZRGB >::Ptr cloud_to_filter)
void	filterFrustumCulling (pcl::PointCloud< pcl::PointXYZRGB >::Ptr cloud_to_filter)
void	filterPassThrough (pcl::PointCloud< pcl::PointXYZRGB >::Ptr cloud_to_filter)
int	main (int argc, char *argv[])
void	onDeviceConnected (Context context, Context::DeviceAddedData data)
void	onDeviceDisconnected (Context context, Context::DeviceRemovedData data)
void	onNewAudioSample (AudioNode node, AudioNode::NewSampleReceivedData data)
void	onNewColorSample (ColorNode node, ColorNode::NewSampleReceivedData data)
void	onNewDepthSample (DepthNode node, DepthNode::NewSampleReceivedData data)
void	onNodeConnected (Device device, Device::NodeAddedData data)
void	onNodeDisconnected (Device device, Device::NodeRemovedData data)
void	reconfigure_callback (softkinetic_camera::SoftkineticConfig &config, uint32_t level)
void	setupCameraInfo (const DepthSense::IntrinsicParameters &params, sensor_msgs::CameraInfo &cam_info)
void	sigintHandler (int sig)
Variables
sensor_msgs::PointCloud2	cloud
DepthSense::CompressionType	color_compression
bool	color_enabled
DepthSense::FrameFormat	color_frame_format
int	color_frame_rate
int	confidence_threshold
cv::Mat	cv_img_depth
cv::Mat	cv_img_mono
cv::Mat	cv_img_rgb
cv::Mat	cv_img_yuy2
bool	depth_enabled
DepthSense::FrameFormat	depth_frame_format
int	depth_frame_rate
sensor_msgs::CameraInfo	depth_info
DepthSense::DepthNode::CameraMode	depth_mode
double	far_plane
uint32_t	g_aFrames = 0
AudioNode	g_anode
bool	g_bDeviceFound = false
uint32_t	g_cFrames = 0
ColorNode	g_cnode
Context	g_context
uint32_t	g_dFrames = 0
DepthNode	g_dnode
double	hfov
sensor_msgs::Image	img_depth
sensor_msgs::Image	img_mono
sensor_msgs::Image	img_rgb
double	limit_max
double	limit_min
int	min_neighbours
double	near_plane
ros::Publisher	pub_cloud
image_transport::Publisher	pub_depth
ros::Publisher	pub_depth_info
image_transport::Publisher	pub_mono
image_transport::Publisher	pub_rgb
ros::Publisher	pub_rgb_info
sensor_msgs::CameraInfo	rgb_info
bool	ros_node_shutdown = false
double	search_radius
std::string	serial
std_msgs::Int32	test_int
bool	use_frustum_culling_filter
bool	use_passthrough_filter
bool	use_radius_outlier_filter
bool	use_serial
bool	use_voxel_grid_filter
double	vfov
double	voxel_grid_size