camera_publisher.h
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00034 
00035 #ifndef IMAGE_TRANSPORT_CAMERA_PUBLISHER_H
00036 #define IMAGE_TRANSPORT_CAMERA_PUBLISHER_H
00037 
00038 #include <ros/ros.h>
00039 #include <sensor_msgs/Image.h>
00040 #include <sensor_msgs/CameraInfo.h>
00041 #include "image_transport/single_subscriber_publisher.h"
00042 
00043 namespace image_transport {
00044 
00045 class ImageTransport;
00046 
00062 class CameraPublisher
00063 {
00064 public:
00065   CameraPublisher() {}
00066 
00073   uint32_t getNumSubscribers() const;
00074 
00078   std::string getTopic() const;
00079 
00083   std::string getInfoTopic() const;
00084 
00088   void publish(const sensor_msgs::Image& image, const sensor_msgs::CameraInfo& info) const;
00089 
00093   void publish(const sensor_msgs::ImageConstPtr& image,
00094                const sensor_msgs::CameraInfoConstPtr& info) const;
00095 
00103   void publish(sensor_msgs::Image& image, sensor_msgs::CameraInfo& info, ros::Time stamp) const;
00104 
00108   void shutdown();
00109 
00110   operator void*() const;
00111   bool operator< (const CameraPublisher& rhs) const { return impl_ <  rhs.impl_; }
00112   bool operator!=(const CameraPublisher& rhs) const { return impl_ != rhs.impl_; }
00113   bool operator==(const CameraPublisher& rhs) const { return impl_ == rhs.impl_; }
00114 
00115 private:
00116   CameraPublisher(ImageTransport& image_it, ros::NodeHandle& info_nh,
00117                   const std::string& base_topic, uint32_t queue_size,
00118                   const SubscriberStatusCallback& image_connect_cb,
00119                   const SubscriberStatusCallback& image_disconnect_cb,
00120                   const ros::SubscriberStatusCallback& info_connect_cb,
00121                   const ros::SubscriberStatusCallback& info_disconnect_cb,
00122                   const ros::VoidPtr& tracked_object, bool latch);
00123   
00124   struct Impl;
00125   typedef boost::shared_ptr<Impl> ImplPtr;
00126   typedef boost::weak_ptr<Impl> ImplWPtr;
00127   
00128   ImplPtr impl_;
00129 
00130   friend class ImageTransport;
00131 };
00132 
00133 } //namespace image_transport
00134 
00135 #endif


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