Alignment Closed Source

orbbec_camera/tools/frame_latency.hpp

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+// Copyright 2023 Intel Corporation. All Rights Reserved.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#pragma once
+
+#include <rclcpp/rclcpp.hpp>
+#include "sensor_msgs/msg/image.hpp"
+#include "sensor_msgs/msg/imu.hpp"
+#include "sensor_msgs/msg/point_cloud2.hpp"
+
+#include <diagnostic_updater/diagnostic_updater.hpp>
+#include <diagnostic_updater/publisher.hpp>
+#include "orbbec_camera_msgs/msg/imu_info.hpp"
+#include "orbbec_camera_msgs/msg/extrinsics.hpp"
+#include "orbbec_camera_msgs/msg/metadata.hpp"
+#include "orbbec_camera_msgs/msg/rgbd.hpp"
+#include <sensor_msgs/image_encodings.hpp>
+#include <sensor_msgs/msg/camera_info.hpp>
+#include <geometry_msgs/msg/pose_stamped.hpp>
+#include <tf2_msgs/msg/tf_message.hpp>
+
+namespace orbbec_camera {
+class FrameLatencyNode : public rclcpp::Node {
+ public:
+  explicit FrameLatencyNode(const rclcpp::NodeOptions& node_options =
+                                rclcpp::NodeOptions().use_intra_process_comms(true));
+
+  FrameLatencyNode(const std::string& node_name, const std::string& ns,
+                   const rclcpp::NodeOptions& node_options =
+                       rclcpp::NodeOptions().use_intra_process_comms(true));
+
+  template <typename MsgType>
+  void createListener(const std::string& topic_name, rmw_qos_profile_t qos_profile);
+
+  void createTFListener(const std::string& topic_name, rmw_qos_profile_t qos_profile);
+
+ private:
+  std::shared_ptr<void> sub_ = nullptr;
+
+  rclcpp::Logger logger_;
+  rclcpp::TimerBase::SharedPtr timer_;
+  size_t frame_count_ = 0;
+};
+}  // namespace orbbec_camera