35 #ifndef IMAGE_TRANSPORT_CAMERA_PUBLISHER_H
36 #define IMAGE_TRANSPORT_CAMERA_PUBLISHER_H
39 #include <sensor_msgs/Image.h>
40 #include <sensor_msgs/CameraInfo.h>
74 uint32_t getNumSubscribers()
const;
79 std::string getTopic()
const;
84 std::string getInfoTopic()
const;
89 void publish(
const sensor_msgs::Image& image,
const sensor_msgs::CameraInfo& info)
const;
94 void publish(
const sensor_msgs::ImageConstPtr& image,
95 const sensor_msgs::CameraInfoConstPtr& info)
const;
104 void publish(sensor_msgs::Image& image, sensor_msgs::CameraInfo& info,
ros::Time stamp)
const;
111 operator void*()
const;
114 bool operator==(
const CameraPublisher& rhs)
const {
return impl_ == rhs.impl_; }
118 const std::string& base_topic, uint32_t queue_size,
127 typedef boost::weak_ptr<Impl> ImplWPtr;
131 friend class ImageTransport;