#include <RealCameraSynchronizer.hpp>

Public Member Functions
void	addCamera (const std::string &topic, const RealCameraPtr &camera, const boost::shared_ptr< image_transport::ImageTransport > &it)
bool	isSynchronized ()
	RealCameraSynchronizer (bool synchronize, const MutexPtr &syncMutex)
void	setSynchronization (bool mode)
Private Member Functions
void	generalCallback (const sensor_msgs::ImageConstPtr &image)
void	handleSynchronization (const sensor_msgs::ImageConstPtr &image)
void	pushMessages ()
Private Attributes
int	cameraCount
std::map< std::string, RealCameraPtr >	camsByFrame
ros::Time	mostRecentStamp
std::map< std::string, sensor_msgs::ImageConstPtr >	msgsByFrame
std::vector < image_transport::Subscriber >	realCamImgSubs
int	recentCount
bool	synchronize
MutexPtr	syncMutex

Detailed Description

Is able to synchronize dynamic number of camera images on the most recent timestamp. It can also call for n topics n separate callbacks instead of one huge as in message_filters::TimeSynchronizer

Author:: Jan Brabec

Definition at line 23 of file RealCameraSynchronizer.hpp.

Constructor & Destructor Documentation

virtual_camera::RealCameraSynchronizer::RealCameraSynchronizer	(	bool	synchronize,
		const MutexPtr &	syncMutex
	)

Constructs the synchronizer

Parameters:

bool	synchronize true if the synchronization shall be turned on false otherwise.
const	MutexPtr & syncMutex concurrent tasks performed by this Synchronizer will be synchronized under this mutex

Definition at line 6 of file RealCameraSynchronizer.cpp.

Member Function Documentation

void virtual_camera::RealCameraSynchronizer::addCamera	(	const std::string &	topic,
		const RealCameraPtr &	camera,
		const boost::shared_ptr< image_transport::ImageTransport > &	it
	)

Adds RealCamera to the synchronizer.

Parameters:

std::string	topic topic the images are on.
RealCameraPtr	instance of the real camera that handles the callback.
const	boost::shared_ptr<image_transport::ImageTransport> & it needed to create a subscriber

Definition at line 26 of file RealCameraSynchronizer.cpp.

void virtual_camera::RealCameraSynchronizer::generalCallback ( const sensor_msgs::ImageConstPtr & image ) [private]

Definition at line 39 of file RealCameraSynchronizer.cpp.

void virtual_camera::RealCameraSynchronizer::handleSynchronization ( const sensor_msgs::ImageConstPtr & image ) [private]

Definition at line 50 of file RealCameraSynchronizer.cpp.

bool virtual_camera::RealCameraSynchronizer::isSynchronized ( )