1. format code; 2. add some commit

Author: KingRichord

demo/uart_demo/main_ros.cpp

@@ -8,80 +8,81 @@
 #include "data_manager.h"
 
 inline ros::Time CreateRosTimestamp(const uint64_t timestamp_micoseconds) {
-    static constexpr uint32_t kNanosecondsPerSecond = 1e9;
-    const auto kTimestampU64 = timestamp_micoseconds * 1000;
-    const uint32_t kTimestampSec = kTimestampU64 / kNanosecondsPerSecond;
-    const uint32_t kRosTimestampNsec = kTimestampU64 - (kTimestampSec * kNanosecondsPerSecond);
-    return {kTimestampSec, kRosTimestampNsec};
+  static constexpr uint32_t kNanosecondsPerSecond = 1e9;
+  const auto kTimestampU64 = timestamp_micoseconds * 1000;
+  const uint32_t kTimestampSec = kTimestampU64 / kNanosecondsPerSecond;
+  const uint32_t kRosTimestampNsec = kTimestampU64 - (kTimestampSec * kNanosecondsPerSecond);
+  return {kTimestampSec, kRosTimestampNsec};
 }
 
 void PublishIMUData(const ros::Publisher& pub, const ImuData& imudata) {
-    sensor_msgs::Imu imu_msg_data;
-    imu_msg_data.header.frame_id = "/base_imu_link";
-    imu_msg_data.header.stamp = CreateRosTimestamp(imudata.time_stamp_us);
+  sensor_msgs::Imu imu_msg_data;
+  imu_msg_data.header.frame_id = "/base_imu_link";
+  imu_msg_data.header.stamp = CreateRosTimestamp(imudata.time_stamp_us);
 
-    imu_msg_data.angular_velocity.x = imudata.gx;
-    imu_msg_data.angular_velocity.y = imudata.gy;
-    imu_msg_data.angular_velocity.z = imudata.gz;
+  imu_msg_data.angular_velocity.x = imudata.gx;
+  imu_msg_data.angular_velocity.y = imudata.gy;
+  imu_msg_data.angular_velocity.z = imudata.gz;
 
-    imu_msg_data.linear_acceleration.x = imudata.ax;
-    imu_msg_data.linear_acceleration.y = imudata.ay;
-    imu_msg_data.linear_acceleration.z = imudata.az;
+  imu_msg_data.linear_acceleration.x = imudata.ax;
+  imu_msg_data.linear_acceleration.y = imudata.ay;
+  imu_msg_data.linear_acceleration.z = imudata.az;
 
-    pub.publish(imu_msg_data);
+  pub.publish(imu_msg_data);
 }
 void SigIntHandler(int sig) {
   ros::shutdown();  // 让ROS节点安全退出
 }
 int main(int argc, char** argv) {
-    // Wait 5 seconds for the camera to start up.
-    std::this_thread::sleep_for(std::chrono::milliseconds(5000));
-    // ROS 初始化
-    ros::init(argc, argv, "CIS",ros::init_options::NoSigintHandler);
-    ros::NodeHandle node;
-    // 串口线程初始化
-    auto serial_manager =std::make_shared<SerialManager>("/dev/ttyACM0");
-    serial_manager->Start();
+  // Wait 5 seconds for the camera to start up.
+  std::this_thread::sleep_for(std::chrono::milliseconds(5000));
+  // ROS 初始化
+  ros::init(argc, argv, "CIS", ros::init_options::NoSigintHandler);
+  ros::NodeHandle node;
+  // 串口线程初始化
+  auto serial_manager = std::make_shared<SerialManager>("/dev/ttyACM0");
+  serial_manager->Start();
 
-    // IMU数据发布
-    ros::Publisher imu_pub = node.advertise<sensor_msgs::Imu>("/imu_sync_board", 1000);
+  // IMU数据发布
+  ros::Publisher imu_pub = node.advertise<sensor_msgs::Imu>("/imu_sync_board", 1000);
 
-    // 相机线程初始化
-    CamManger::GetInstance().Initialization();
-    CamManger::GetInstance().Start();
+  // 相机线程初始化
+  CamManger::GetInstance().Initialization();
+  CamManger::GetInstance().Start();
 
-    // 等待相机启动
-    std::this_thread::sleep_for(std::chrono::milliseconds(5000));
+  // 等待相机启动
+  std::this_thread::sleep_for(std::chrono::milliseconds(5000));
 
-    // 遍历所有相机，新建发布者
-    image_transport::ImageTransport it(node);
-    std::vector<std::string> all_cam_names;
-    DataManger::GetInstance().GetAllCamNames(all_cam_names);
-    std::cout << "Number of cameras detected " << all_cam_names.size() << std::endl;
-    std::map<std::string, image_transport::Publisher> pub_list;
-    for (auto& cam : all_cam_names) {
-        pub_list[cam] = it.advertise(cam, 30);
-    }
+  // 遍历所有相机，新建发布者
+  image_transport::ImageTransport it(node);
+  std::vector<std::string> all_cam_names;
+  DataManger::GetInstance().GetAllCamNames(all_cam_names);
+  std::cout << "Number of cameras detected " << all_cam_names.size() << std::endl;
+  std::map<std::string, image_transport::Publisher> pub_list;
+  for (auto& cam : all_cam_names) {
+    pub_list[cam] = it.advertise(cam, 30);
+  }
 
-    // ROS循环发布传感器数据
-    ros::Rate loop_rate(1000);
-    ImuData imudata{};
+  // ROS循环发布传感器数据
+  ros::Rate loop_rate(1000);
+  ImuData imudata{};
 
-    while (node.ok()) {
-        // 获取IMU数据
-        while (DataManger::GetInstance().GetNewImuData(imudata)) {
-            // 发布IMU数据
-            PublishIMUData(imu_pub, imudata);
-        }
-        // 遍历所有相机，发布图像数据
-        ImgData img_data{};
-        for (auto& cam : all_cam_names) {
-            // 获取图像数据
-            while (DataManger::GetInstance().GetNewCamData(cam, img_data)) {
-                // 发布图像数据
-                sensor_msgs::ImagePtr msg =
-                        cv_bridge::CvImage(std_msgs::Header(), "mono8", img_data.image.clone()).toImageMsg();
-                msg->header.stamp = CreateRosTimestamp(img_data.time_stamp_us);
+  while (node.ok()) {
+    // 获取IMU数据
+    while (DataManger::GetInstance().GetNewImuData(imudata)) {
+      // 发布IMU数据
+      PublishIMUData(imu_pub, imudata);
+    }
+    // 遍历所有相机，发布图像数据
+    ImgData img_data{};
+    for (auto& cam : all_cam_names) {
+      // 获取图像数据
+      while (DataManger::GetInstance().GetNewCamData(cam, img_data)) {
+        // 发布图像数据
+        sensor_msgs::ImagePtr msg =
+            // mono8:灰度类型,bgr8:彩图，具体需要根据相机类型进行修改
+            cv_bridge::CvImage(std_msgs::Header(), "mono8", img_data.image.clone()).toImageMsg();
+        msg->header.stamp = CreateRosTimestamp(img_data.time_stamp_us);
                 pub_list[cam].publish(msg);
             }
         }

demo/udp_demo/main_ros.cpp

@@ -83,6 +83,7 @@ int main(int argc, char** argv) {
         for (auto& cam : all_cam_names) {
             while (DataManger::GetInstance().GetNewCamData(cam, img_data)) {
                 sensor_msgs::ImagePtr msg =
+                // mono8:灰度类型,bgr8:彩图，具体需要根据相机类型进行修改
                         cv_bridge::CvImage(std_msgs::Header(), "mono8", img_data.image.clone()).toImageMsg();
                 msg->header.stamp = CreateRosTimestamp(img_data.time_stamp_us);
                 pub_list[cam].publish(msg);