camera_publisher.h
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34 
35 #ifndef IMAGE_TRANSPORT_CAMERA_PUBLISHER_H
36 #define IMAGE_TRANSPORT_CAMERA_PUBLISHER_H
37 
38 #include <ros/ros.h>
39 #include <sensor_msgs/Image.h>
40 #include <sensor_msgs/CameraInfo.h>
42 #include "exports.h"
43 
44 namespace image_transport {
45 
46 class ImageTransport;
47 
64 {
65 public:
67 
74  uint32_t getNumSubscribers() const;
75 
79  std::string getTopic() const;
80 
84  std::string getInfoTopic() const;
85 
89  void publish(const sensor_msgs::Image& image, const sensor_msgs::CameraInfo& info) const;
90 
94  void publish(const sensor_msgs::ImageConstPtr& image,
95  const sensor_msgs::CameraInfoConstPtr& info) const;
96 
104  void publish(sensor_msgs::Image& image, sensor_msgs::CameraInfo& info, ros::Time stamp) const;
105 
109  void shutdown();
110 
111  operator void*() const;
112  bool operator< (const CameraPublisher& rhs) const { return impl_ < rhs.impl_; }
113  bool operator!=(const CameraPublisher& rhs) const { return impl_ != rhs.impl_; }
114  bool operator==(const CameraPublisher& rhs) const { return impl_ == rhs.impl_; }
115 
116 private:
117  CameraPublisher(ImageTransport& image_it, ros::NodeHandle& info_nh,
118  const std::string& base_topic, uint32_t queue_size,
119  const SubscriberStatusCallback& image_connect_cb,
120  const SubscriberStatusCallback& image_disconnect_cb,
121  const ros::SubscriberStatusCallback& info_connect_cb,
122  const ros::SubscriberStatusCallback& info_disconnect_cb,
123  const ros::VoidPtr& tracked_object, bool latch);
124 
125  struct Impl;
127  typedef boost::weak_ptr<Impl> ImplWPtr;
128 
129  ImplPtr impl_;
130 
131  friend class ImageTransport;
132 };
133 
134 } //namespace image_transport
135 
136 #endif
bool operator==(const CameraPublisher &rhs) const
boost::function< void(const SingleSubscriberPublisher &)> SubscriberStatusCallback
bool operator!=(const CameraPublisher &rhs) const
Manages advertisements for publishing camera images.
boost::function< void(const SingleSubscriberPublisher &)> SubscriberStatusCallback
boost::shared_ptr< Impl > ImplPtr
#define IMAGE_TRANSPORT_DECL
Definition: exports.h:15
ROSCONSOLE_DECL void shutdown()
boost::weak_ptr< Impl > ImplWPtr
Advertise and subscribe to image topics.


image_transport
Author(s): Patrick Mihelich
autogenerated on Mon Apr 6 2020 03:31:37