Program Listing for File image_rotate_node.hpp

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// Copyright (c) 2008, Willow Garage, Inc.
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#ifndef IMAGE_ROTATE__IMAGE_ROTATE_NODE_HPP_
#define IMAGE_ROTATE__IMAGE_ROTATE_NODE_HPP_

#include <memory>
#include <string>

#include "tf2_ros/buffer.h"
#include "tf2_ros/transform_listener.h"
#include "tf2_ros/transform_broadcaster.h"

#include <geometry_msgs/msg/vector3_stamped.hpp>
#include <image_transport/image_transport.hpp>
#include <rclcpp/rclcpp.hpp>
#include <sensor_msgs/msg/camera_info.hpp>
#include <sensor_msgs/msg/image.hpp>

#include "image_rotate/visibility.h"

namespace image_rotate
{

struct ImageRotateConfig
{
  std::string target_frame_id;
  double target_x;
  double target_y;
  double target_z;
  std::string source_frame_id;
  double source_x;
  double source_y;
  double source_z;
  std::string output_frame_id;
  std::string input_frame_id;
  bool use_camera_info;
  double max_angular_rate;
  double output_image_size;
};

class ImageRotateNode : public rclcpp::Node
{
public:
  IMAGE_ROTATE_PUBLIC ImageRotateNode(const rclcpp::NodeOptions & options);

private:
  const std::string frameWithDefault(const std::string & frame, const std::string & image_frame);
  void imageCallbackWithInfo(
    const sensor_msgs::msg::Image::ConstSharedPtr & msg,
    const sensor_msgs::msg::CameraInfo::ConstSharedPtr & cam_info);
  void imageCallback(const sensor_msgs::msg::Image::ConstSharedPtr & msg);
  void do_work(
    const sensor_msgs::msg::Image::ConstSharedPtr & msg,
    const std::string input_frame_from_msg);
  void subscribe();
  void unsubscribe();
  void connectCb();
  void disconnectCb();
  void onInit();

  rclcpp::Node::OnSetParametersCallbackHandle::SharedPtr on_set_parameters_callback_handle_;

  std::shared_ptr<tf2_ros::Buffer> tf_buffer_;
  std::shared_ptr<tf2_ros::TransformListener> tf_sub_;
  std::shared_ptr<tf2_ros::TransformBroadcaster> tf_pub_;

  image_rotate::ImageRotateConfig config_;

  image_transport::Publisher img_pub_;
  image_transport::Subscriber img_sub_;
  image_transport::CameraSubscriber cam_sub_;

  geometry_msgs::msg::Vector3Stamped target_vector_;
  geometry_msgs::msg::Vector3Stamped source_vector_;

  int subscriber_count_;
  double angle_;
  tf2::TimePoint prev_stamp_;
};
}  // namespace image_rotate

#endif  // IMAGE_ROTATE__IMAGE_ROTATE_NODE_HPP_