subscriber_filter.h

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#ifndef IMAGE_TRANSPORT_SUBSCRIBER_FILTER_H
#define IMAGE_TRANSPORT_SUBSCRIBER_FILTER_H
 
#include <ros/ros.h>
#include <message_filters/simple_filter.h>
 
#include "image_transport/image_transport.h"
 
namespace image_transport {
 
class SubscriberFilter : public message_filters::SimpleFilter<sensor_msgs::Image>
{
public:
  SubscriberFilter(ImageTransport& it, const std::string& base_topic, uint32_t queue_size,
                   const TransportHints& transport_hints = TransportHints())
  {
    subscribe(it, base_topic, queue_size, transport_hints);
  }
 
  SubscriberFilter()
  {
  }
 
  ~SubscriberFilter()
  {
    unsubscribe();
  }
 
  void subscribe(ImageTransport& it, const std::string& base_topic, uint32_t queue_size,
                 const TransportHints& transport_hints = TransportHints())
  {
    unsubscribe();
 
    sub_ = it.subscribe(base_topic, queue_size, boost::bind(&SubscriberFilter::cb, this, boost::placeholders::_1),
                        ros::VoidPtr(), transport_hints);
  }
 
  void unsubscribe()
  {
    sub_.shutdown();
  }
 
  std::string getTopic() const
  {
    return sub_.getTopic();
  }
 
  uint32_t getNumPublishers() const
  {
    return sub_.getNumPublishers();
  }
 
  std::string getTransport() const
  {
    return sub_.getTransport();
  }
 
  const Subscriber& getSubscriber() const
  {
    return sub_;
  }
 
private:
 
  void cb(const sensor_msgs::ImageConstPtr& m)
  {
    signalMessage(m);
  }
 
  Subscriber sub_;
};
 
}
 
#endif