#include <boost/thread.hpp>
#include <cv_bridge/cv_bridge.h>
#include <image_transport/image_transport.h>
#include <ros/ros.h>
#include <sensor_msgs/CameraInfo.h>
#include <sensor_msgs/PointCloud2.h>
#include <sensor_msgs/image_encodings.h>
#include <std_msgs/ByteMultiArray.h>
#include <memory>
#include <diagnostic_updater/diagnostic_updater.h>
#include <diagnostic_updater/publisher.h>
#include "VisionaryControl.h"
#include "VisionaryDataStream.h"
#include "VisionarySData.h"

Include dependency graph for visionary_s.cpp:

Functions
void	_on_new_subscriber ()

void	_on_subscriber_disconnected ()

void	diag_timer_cb (const ros::TimerEvent &)

void	driver_diagnostics (diagnostic_updater::DiagnosticStatusWrapper &stat)

int	main (int argc, char **argv)

void	on_new_subscriber_it (const image_transport::SingleSubscriberPublisher &)

void	on_new_subscriber_ros (const ros::SingleSubscriberPublisher &)

void	on_subscriber_disconnected_it (const image_transport::SingleSubscriberPublisher &)

void	on_subscriber_disconnected_ros (const ros::SingleSubscriberPublisher &)

void	publish_frame (VisionarySData &dataHandler)

void	publishCameraInfo (std_msgs::Header header, VisionarySData &dataHandler)

void	publishPointCloud (std_msgs::Header header, VisionarySData &dataHandler)

void	publishRGBA (std_msgs::Header header, VisionarySData &dataHandler)

void	publishStatemap (std_msgs::Header header, VisionarySData &dataHandler)

void	publishZ (std_msgs::Header header, VisionarySData &dataHandler)

void	thr_publish_frame ()

void	thr_receive_frame (std::shared_ptr< VisionaryDataStream > pDataStream, std::shared_ptr< VisionarySData > pDataHandler)

Variables
std::shared_ptr< VisionaryControl >	gControl

std::shared_ptr< VisionarySData >	gDataHandler

boost::mutex	gDataMtx

std::string	gDeviceIdent

bool	gEnablePoints

bool	gEnableRGBA

bool	gEnableStatemap

bool	gEnableZ

std::string	gFrameId

int	gNumSubs = 0

ros::Publisher	gPubCameraInfo

std::shared_ptr< diagnostic_updater::TopicDiagnostic >	gPubCameraInfo_freq

ros::Publisher	gPubPoints

std::shared_ptr< diagnostic_updater::TopicDiagnostic >	gPubPoints_freq

image_transport::Publisher	gPubRGBA

std::shared_ptr< diagnostic_updater::TopicDiagnostic >	gPubRGBA_freq

image_transport::Publisher	gPubStatemap

std::shared_ptr< diagnostic_updater::TopicDiagnostic >	gPubStatemap_freq

image_transport::Publisher	gPubZ

std::shared_ptr< diagnostic_updater::TopicDiagnostic >	gPubZ_freq

bool	gReceive = true

std::shared_ptr< diagnostic_updater::Updater >	updater

Function Documentation

◆ _on_new_subscriber()

void _on_new_subscriber ( )

Definition at line 290 of file visionary_s.cpp.

◆ _on_subscriber_disconnected()

void _on_subscriber_disconnected ( )

Definition at line 298 of file visionary_s.cpp.

◆ diag_timer_cb()

void diag_timer_cb ( const ros::TimerEvent & )

Definition at line 45 of file visionary_s.cpp.

◆ driver_diagnostics()

void driver_diagnostics ( diagnostic_updater::DiagnosticStatusWrapper & stat )

Definition at line 50 of file visionary_s.cpp.

◆ main()

int main	(	int	argc,
		char **	argv
	)

Definition at line 324 of file visionary_s.cpp.

◆ on_new_subscriber_it()

void on_new_subscriber_it ( const image_transport::SingleSubscriberPublisher & )

Definition at line 309 of file visionary_s.cpp.

◆ on_new_subscriber_ros()

void on_new_subscriber_ros ( const ros::SingleSubscriberPublisher & )

Definition at line 304 of file visionary_s.cpp.

◆ on_subscriber_disconnected_it()

void on_subscriber_disconnected_it ( const image_transport::SingleSubscriberPublisher & )

Definition at line 319 of file visionary_s.cpp.

◆ on_subscriber_disconnected_ros()

void on_subscriber_disconnected_ros ( const ros::SingleSubscriberPublisher & )

Definition at line 314 of file visionary_s.cpp.

◆ publish_frame()

void publish_frame ( VisionarySData & dataHandler )

Definition at line 205 of file visionary_s.cpp.

◆ publishCameraInfo()

void publishCameraInfo	(	std_msgs::Header	header,
		VisionarySData &	dataHandler
	)

Definition at line 70 of file visionary_s.cpp.

◆ publishPointCloud()

void publishPointCloud	(	std_msgs::Header	header,
		VisionarySData &	dataHandler
	)

Definition at line 144 of file visionary_s.cpp.

◆ publishRGBA()

void publishRGBA	(	std_msgs::Header	header,
		VisionarySData &	dataHandler
	)

Definition at line 132 of file visionary_s.cpp.

◆ publishStatemap()

void publishStatemap	(	std_msgs::Header	header,
		VisionarySData &	dataHandler
	)

Definition at line 120 of file visionary_s.cpp.

◆ publishZ()

void publishZ	(	std_msgs::Header	header,
		VisionarySData &	dataHandler
	)

Definition at line 108 of file visionary_s.cpp.

◆ thr_publish_frame()

void thr_publish_frame ( )

Definition at line 264 of file visionary_s.cpp.

◆ thr_receive_frame()

void thr_receive_frame	(	std::shared_ptr< VisionaryDataStream >	pDataStream,
		std::shared_ptr< VisionarySData >	pDataHandler
	)

Definition at line 271 of file visionary_s.cpp.

Variable Documentation

◆ gControl

std::shared_ptr<VisionaryControl> gControl

Definition at line 25 of file visionary_s.cpp.

◆ gDataHandler

std::shared_ptr<VisionarySData> gDataHandler

Definition at line 27 of file visionary_s.cpp.

◆ gDataMtx

boost::mutex gDataMtx

Definition at line 40 of file visionary_s.cpp.

◆ gDeviceIdent

std::string gDeviceIdent

Definition at line 37 of file visionary_s.cpp.

◆ gEnablePoints

bool gEnablePoints

Definition at line 38 of file visionary_s.cpp.

◆ gEnableRGBA

bool gEnableRGBA

Definition at line 38 of file visionary_s.cpp.

◆ gEnableStatemap

bool gEnableStatemap

Definition at line 38 of file visionary_s.cpp.

◆ gEnableZ

bool gEnableZ

Definition at line 38 of file visionary_s.cpp.

◆ gFrameId

std::string gFrameId

Definition at line 36 of file visionary_s.cpp.

◆ gNumSubs

int gNumSubs = 0

Definition at line 43 of file visionary_s.cpp.

◆ gPubCameraInfo

ros::Publisher gPubCameraInfo

Definition at line 30 of file visionary_s.cpp.

◆ gPubCameraInfo_freq

std::shared_ptr<diagnostic_updater::TopicDiagnostic> gPubCameraInfo_freq

Definition at line 34 of file visionary_s.cpp.

◆ gPubPoints

ros::Publisher gPubPoints

Definition at line 30 of file visionary_s.cpp.

◆ gPubPoints_freq

std::shared_ptr<diagnostic_updater::TopicDiagnostic> gPubPoints_freq

Definition at line 34 of file visionary_s.cpp.

◆ gPubRGBA

image_transport::Publisher gPubRGBA

Definition at line 29 of file visionary_s.cpp.

◆ gPubRGBA_freq

std::shared_ptr<diagnostic_updater::TopicDiagnostic> gPubRGBA_freq

Definition at line 33 of file visionary_s.cpp.

◆ gPubStatemap

image_transport::Publisher gPubStatemap

Definition at line 29 of file visionary_s.cpp.

◆ gPubStatemap_freq

std::shared_ptr<diagnostic_updater::TopicDiagnostic> gPubStatemap_freq

Definition at line 33 of file visionary_s.cpp.

◆ gPubZ

image_transport::Publisher gPubZ

Definition at line 29 of file visionary_s.cpp.

◆ gPubZ_freq

std::shared_ptr<diagnostic_updater::TopicDiagnostic> gPubZ_freq

Definition at line 33 of file visionary_s.cpp.

◆ gReceive

bool gReceive = true

Definition at line 41 of file visionary_s.cpp.

◆ updater

std::shared_ptr<diagnostic_updater::Updater> updater

Definition at line 32 of file visionary_s.cpp.

Functions

Variables

Function Documentation

◆ _on_new_subscriber()

◆ _on_subscriber_disconnected()

◆ diag_timer_cb()

◆ driver_diagnostics()

◆ main()

◆ on_new_subscriber_it()

◆ on_new_subscriber_ros()

◆ on_subscriber_disconnected_it()

◆ on_subscriber_disconnected_ros()

◆ publish_frame()

◆ publishCameraInfo()

◆ publishPointCloud()

◆ publishRGBA()

◆ publishStatemap()

◆ publishZ()

◆ thr_publish_frame()

◆ thr_receive_frame()

Variable Documentation

◆ gControl

◆ gDataHandler

◆ gDataMtx

◆ gDeviceIdent

◆ gEnablePoints

◆ gEnableRGBA

◆ gEnableStatemap

◆ gEnableZ

◆ gFrameId

◆ gNumSubs

◆ gPubCameraInfo

◆ gPubCameraInfo_freq

◆ gPubPoints

◆ gPubPoints_freq

◆ gPubRGBA

◆ gPubRGBA_freq

◆ gPubStatemap

◆ gPubStatemap_freq

◆ gPubZ

◆ gPubZ_freq

◆ gReceive

◆ updater