id: 1 unit: void K4AROSDevice::framePublisherThread() file: src/k4a_ros_device.cpp start line: 876 end line: 1227 size: 278 LOC McCabe index: 72 number of parameters: 0 id: 2 unit: k4a_result_t K4AROSDeviceParams::GetDeviceConfig() file: src/k4a_ros_device_params.cpp start line: 18 end line: 219 size: 171 LOC McCabe index: 34 number of parameters: 1 id: 3 unit: void K4AROSDevice::imuPublisherThread() file: src/k4a_ros_device.cpp start line: 1321 end line: 1434 size: 94 LOC McCabe index: 24 number of parameters: 0 id: 4 unit: void K4AROSDevice::bodyPublisherThread() file: src/k4a_ros_device.cpp start line: 1230 end line: 1296 size: 59 LOC McCabe index: 12 number of parameters: 0 id: 5 unit: k4a_result_t K4AROSDevice::fillColorPointCloud() file: src/k4a_ros_device.cpp start line: 666 end line: 723 size: 47 LOC McCabe index: 5 number of parameters: 3 id: 6 unit: k4a_result_t K4AROSDevice::startCameras() file: src/k4a_ros_device.cpp start line: 349 end line: 404 size: 37 LOC McCabe index: 6 number of parameters: 0 id: 7 unit: k4a_result_t K4AROSDevice::fillPointCloud() file: src/k4a_ros_device.cpp start line: 725 end line: 763 size: 31 LOC McCabe index: 3 number of parameters: 2 id: 8 unit: void K4ACalibrationTransformData::initialize() file: src/k4a_calibration_transform_data.cpp start line: 37 end line: 77 size: 28 LOC McCabe index: 8 number of parameters: 1 id: 9 unit: int main() file: src/k4a_ros_bridge_node.cpp start line: 17 end line: 57 size: 28 LOC McCabe index: 4 number of parameters: 2 id: 10 unit: k4a_result_t K4AROSDevice::getBodyMarker() file: src/k4a_ros_device.cpp start line: 787 end line: 822 size: 27 LOC McCabe index: 1 number of parameters: 4 id: 11 unit: k4a_result_t K4AROSDevice::renderBodyIndexMapToROS() file: src/k4a_ros_device.cpp start line: 837 end line: 873 size: 26 LOC McCabe index: 3 number of parameters: 3 id: 12 unit: void K4ACalibrationTransformData::printCameraCalibration() file: src/k4a_calibration_transform_data.cpp start line: 118 end line: 144 size: 25 LOC McCabe index: 1 number of parameters: 1 id: 13 unit: k4a_result_t K4AROSDevice::getRbgFrame() file: src/k4a_ros_device.cpp start line: 538 end line: 569 size: 25 LOC McCabe index: 4 number of parameters: 3 id: 14 unit: k4a_result_t K4AROSDevice::getRgbPointCloudInDepthFrame() file: src/k4a_ros_device.cpp start line: 583 end line: 613 size: 24 LOC McCabe index: 3 number of parameters: 2 id: 15 unit: k4a_result_t K4AROSDevice::getRgbPointCloudInRgbFrame() file: src/k4a_ros_device.cpp start line: 615 end line: 644 size: 23 LOC McCabe index: 3 number of parameters: 2 id: 16 unit: void K4AROSDevice::updateTimestampOffset() file: src/k4a_ros_device.cpp start line: 1492 end line: 1525 size: 23 LOC McCabe index: 3 number of parameters: 2 id: 17 unit: k4a_result_t K4AROSDevice::renderDepthToROS() file: src/k4a_ros_device.cpp start line: 461 end line: 485 size: 20 LOC McCabe index: 3 number of parameters: 2 id: 18 unit: void K4ACalibrationTransformData::publishRgbToDepthTf() file: src/k4a_calibration_transform_data.cpp start line: 159 end line: 180 size: 19 LOC McCabe index: 1 number of parameters: 0 id: 19 unit: void K4ACalibrationTransformData::publishImuToDepthTf() file: src/k4a_calibration_transform_data.cpp start line: 182 end line: 203 size: 19 LOC McCabe index: 1 number of parameters: 0 id: 20 unit: void K4ACalibrationTransformData::getDepthCameraInfo() file: src/k4a_calibration_transform_data.cpp start line: 256 end line: 306 size: 19 LOC McCabe index: 1 number of parameters: 1 id: 21 unit: void K4ACalibrationTransformData::getRgbCameraInfo() file: src/k4a_calibration_transform_data.cpp start line: 308 end line: 358 size: 19 LOC McCabe index: 1 number of parameters: 1 id: 22 unit: void K4ACalibrationTransformData::print() file: src/k4a_calibration_transform_data.cpp start line: 93 end line: 116 size: 18 LOC McCabe index: 1 number of parameters: 0 id: 23 unit: void K4ACalibrationTransformData::publishDepthToBaseTf() file: src/k4a_calibration_transform_data.cpp start line: 205 end line: 226 size: 17 LOC McCabe index: 1 number of parameters: 0 id: 24 unit: void K4AROSBridgeNodelet::onInit() file: src/k4a_ros_bridge_nodelet.cpp start line: 31 end line: 52 size: 17 LOC McCabe index: 3 number of parameters: 0 id: 25 unit: k4a_result_t K4AROSDevice::getDepthFrame() file: src/k4a_ros_device.cpp start line: 439 end line: 459 size: 17 LOC McCabe index: 3 number of parameters: 3 id: 26 unit: k4a_result_t K4AROSDevice::renderIrToROS() file: src/k4a_ros_device.cpp start line: 500 end line: 520 size: 16 LOC McCabe index: 2 number of parameters: 2 id: 27 unit: k4a_imu_sample_t K4AROSDevice::computeMeanIMUSample() file: src/k4a_ros_device.cpp start line: 1299 end line: 1319 size: 15 LOC McCabe index: 2 number of parameters: 1 id: 28 unit: k4a_result_t K4AROSDevice::getPointCloud() file: src/k4a_ros_device.cpp start line: 646 end line: 664 size: 14 LOC McCabe index: 2 number of parameters: 2 id: 29 unit: std::chrono::microseconds K4AROSDevice::getCaptureTimestamp() file: src/k4a_ros_device.cpp start line: 1436 end line: 1458 size: 14 LOC McCabe index: 3 number of parameters: 1 id: 30 unit: k4a_result_t K4AROSDevice::getJpegRgbFrame() file: src/k4a_ros_device.cpp start line: 522 end line: 536 size: 13 LOC McCabe index: 2 number of parameters: 2 id: 31 unit: k4a_result_t K4AROSDevice::getImuFrame() file: src/k4a_ros_device.cpp start line: 765 end line: 784 size: 13 LOC McCabe index: 1 number of parameters: 2 id: 32 unit: void K4ACalibrationTransformData::printExtrinsics() file: src/k4a_calibration_transform_data.cpp start line: 146 end line: 157 size: 12 LOC McCabe index: 1 number of parameters: 1 id: 33 unit: ros::Time K4AROSDevice::timestampToROS() file: src/k4a_ros_device.cpp start line: 1461 end line: 1473 size: 11 LOC McCabe index: 2 number of parameters: 1 id: 34 unit: void to_float() file: include/azure_kinect_ros_driver/k4a_ros_types.h start line: 93 end line: 102 size: 10 LOC McCabe index: 1 number of parameters: 1 id: 35 unit: k4a_result_t K4AROSDevice::startImu() file: src/k4a_ros_device.cpp start line: 406 end line: 418 size: 10 LOC McCabe index: 2 number of parameters: 0 id: 36 unit: k4a_result_t K4AROSDevice::getIrFrame() file: src/k4a_ros_device.cpp start line: 487 end line: 498 size: 10 LOC McCabe index: 2 number of parameters: 2 id: 37 unit: k4a_result_t K4AROSDevice::getBodyIndexMap() file: src/k4a_ros_device.cpp start line: 824 end line: 835 size: 10 LOC McCabe index: 2 number of parameters: 2 id: 38 unit: void K4AROSDevice::stopCameras() file: src/k4a_ros_device.cpp start line: 420 end line: 429 size: 9 LOC McCabe index: 2 number of parameters: 0 id: 39 unit: tf2::Quaternion K4ACalibrationTransformData::getDepthToBaseRotationCorrection() file: src/k4a_calibration_transform_data.cpp start line: 243 end line: 254 size: 8 LOC McCabe index: 1 number of parameters: 0 id: 40 unit: void K4AROSDevice::stopImu() file: src/k4a_ros_device.cpp start line: 431 end line: 437 size: 7 LOC McCabe index: 2 number of parameters: 0 id: 41 unit: k4a_result_t K4AROSDevice::renderBGRA32ToROS() file: src/k4a_ros_device.cpp start line: 573 end line: 581 size: 7 LOC McCabe index: 1 number of parameters: 2 id: 42 unit: void K4AROSDevice::initializeTimestampOffset() file: src/k4a_ros_device.cpp start line: 1481 end line: 1490 size: 7 LOC McCabe index: 1 number of parameters: 1 id: 43 unit: void K4AROSDeviceParams::Help() file: src/k4a_ros_device_params.cpp start line: 221 end line: 228 size: 7 LOC McCabe index: 1 number of parameters: 0 id: 44 unit: void K4AROSDeviceParams::Print() file: src/k4a_ros_device_params.cpp start line: 230 end line: 237 size: 7 LOC McCabe index: 1 number of parameters: 0 id: 45 unit: void K4ACalibrationTransformData::initialize() file: src/k4a_calibration_transform_data.cpp start line: 24 end line: 29 size: 6 LOC McCabe index: 1 number of parameters: 4 id: 46 unit: void K4ACalibrationTransformData::initialize() file: src/k4a_calibration_transform_data.cpp start line: 31 end line: 35 size: 5 LOC McCabe index: 1 number of parameters: 2 id: 47 unit: tf2::Vector3 K4ACalibrationTransformData::getDepthToBaseTranslationCorrection() file: src/k4a_calibration_transform_data.cpp start line: 236 end line: 241 size: 5 LOC McCabe index: 1 number of parameters: 0 id: 48 unit: int K4ACalibrationTransformData::getDepthHeight() file: src/k4a_calibration_transform_data.cpp start line: 81 end line: 84 size: 4 LOC McCabe index: 1 number of parameters: 0 id: 49 unit: int K4ACalibrationTransformData::getColorHeight() file: src/k4a_calibration_transform_data.cpp start line: 88 end line: 91 size: 4 LOC McCabe index: 1 number of parameters: 0 id: 50 unit: ros::Time K4AROSDevice::timestampToROS() file: src/k4a_ros_device.cpp start line: 1476 end line: 1479 size: 4 LOC McCabe index: 1 number of parameters: 1 id: 51 unit: int K4ACalibrationTransformData::getDepthWidth() file: src/k4a_calibration_transform_data.cpp start line: 79 end line: 79 size: 1 LOC McCabe index: 1 number of parameters: 0 id: 52 unit: int K4ACalibrationTransformData::getColorWidth() file: src/k4a_calibration_transform_data.cpp start line: 86 end line: 86 size: 1 LOC McCabe index: 1 number of parameters: 0