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Frame callbacks #160

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merged 6 commits into from
Dec 15, 2016
Merged

Frame callbacks #160

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40c856e
Added frame callbacks instead of rs_wait_for_frames
Nov 21, 2016
157182c
Added imu_mutex for data sync to callback
Dec 1, 2016
765e7db
Removed prepareTopics thread; replaced with setDepthEnable
Dec 2, 2016
2773cc8
Refactored setStreams
Dec 2, 2016
bf562b3
Changed depth_scale_meters to local var
Dec 3, 2016
6112978
Renamed getStreamData to setImageData
Dec 15, 2016
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17 changes: 7 additions & 10 deletions realsense_camera/include/realsense_camera/base_nodelet.h
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Original file line number Diff line number Diff line change
Expand Up @@ -82,7 +82,7 @@ namespace realsense_camera
// Interfaces.
virtual void onInit();
virtual ~BaseNodelet();
virtual void prepareTopics();
virtual void setDepthEnable(bool &enable_depth);
virtual bool getCameraOptionValues(realsense_camera::CameraConfiguration::Request & req,
realsense_camera::CameraConfiguration::Response & res);
virtual bool setPowerCameraService(realsense_camera::SetPower::Request & req,
Expand Down Expand Up @@ -113,7 +113,7 @@ namespace realsense_camera
std::string usb_port_id_;
std::string camera_type_;
std::string mode_;
bool enable_[STREAM_COUNT];
bool enable_[STREAM_COUNT] = {false};
int width_[STREAM_COUNT];
int height_[STREAM_COUNT];
int fps_[STREAM_COUNT];
Expand All @@ -132,13 +132,9 @@ namespace realsense_camera
float max_z_ = -1.0f;
bool enable_pointcloud_;
bool enable_tf_;
bool duplicate_depth_color_;
const uint16_t *image_depth16_;
boost::shared_ptr<boost::thread> topic_thread_;
float depth_scale_meters_;
cv::Mat cvWrapper_;
bool start_camera_ = true;
bool start_stop_srv_called_ = false;
boost::mutex frame_mutex_[STREAM_COUNT];

struct CameraOptions
{
Expand All @@ -165,14 +161,15 @@ namespace realsense_camera
virtual void disableStream(rs_stream stream_index);
virtual std::string startCamera();
virtual std::string stopCamera();
virtual void publishTopics();
virtual void publishTopic(rs_stream stream_index);
virtual void getStreamData(rs_stream stream_index);
virtual void publishTopic(rs_stream stream_index, rs::frame & frame);
virtual void setImageData(rs_stream stream_index, rs::frame & frame);
virtual void publishPCTopic();
virtual void publishStaticTransforms();
virtual void checkError();
virtual bool checkForSubscriber();
virtual void wrappedSystem(std::vector<std::string> string_argv);
virtual void setFrameCallbacks();
std::function<void(rs::frame f)> depth_frame_handler_, color_frame_handler_, ir_frame_handler_;
};
}
#endif
4 changes: 2 additions & 2 deletions realsense_camera/include/realsense_camera/r200_nodelet.h
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Expand Up @@ -64,9 +64,9 @@ namespace realsense_camera
void setDynamicReconfigDepthControlPreset(int preset);
std::string setDynamicReconfigDepthControlIndividuals();
void configCallback(realsense_camera::r200_paramsConfig &config, uint32_t level);
void setStreams();
void publishTopics();
void publishStaticTransforms();
void setFrameCallbacks();
std::function<void(rs::frame f)> ir2_frame_handler_;
};
}
#endif
6 changes: 4 additions & 2 deletions realsense_camera/include/realsense_camera/zr300_nodelet.h
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Expand Up @@ -66,6 +66,7 @@ namespace realsense_camera
boost::shared_ptr<boost::thread> imu_thread_;
std::function<void(rs::motion_data)> motion_handler_;
std::function<void(rs::timestamp_data)> timestamp_handler_;
boost::mutex imu_mutex_;

// Member Functions.
void getParameters();
Expand All @@ -77,11 +78,12 @@ namespace realsense_camera
void setDynamicReconfigDepthControlPreset(int preset);
std::string setDynamicReconfigDepthControlIndividuals();
void configCallback(realsense_camera::zr300_paramsConfig &config, uint32_t level);
void setStreams();
void publishTopics();
void publishStaticTransforms();
void prepareIMU();
void setIMUCallbacks();
void setFrameCallbacks();
std::function<void(rs::frame f)> fisheye_frame_handler_, ir2_frame_handler_;

};
}
#endif
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