camera_common.cpp
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00034 
00035 #include "image_transport/camera_common.h"
00036 #include <boost/algorithm/string/classification.hpp>
00037 #include <boost/algorithm/string/split.hpp>
00038 #include <boost/algorithm/string/join.hpp>
00039 #include <vector>
00040 
00041 namespace image_transport {
00042 
00043 std::string getCameraInfoTopic(const std::string& base_topic)
00044 {
00045   // Split into separate names
00046   std::vector<std::string> names;
00047   boost::algorithm::split(names, base_topic, boost::algorithm::is_any_of("/"),
00048                           boost::algorithm::token_compress_on);
00049   // Get rid of empty tokens from trailing slashes
00050   while (names.back().empty())
00051     names.pop_back();
00052   // Replace image name with "camera_info"
00053   names.back() = "camera_info";
00054   // Join back together into topic name
00055   return boost::algorithm::join(names, "/");
00056 }
00057 
00058 } //namespace image_transport


image_transport
Author(s): Patrick Mihelich
autogenerated on Thu Jun 6 2019 21:19:55