camera_publisher.h

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#ifndef IMAGE_TRANSPORT_CAMERA_PUBLISHER_H
#define IMAGE_TRANSPORT_CAMERA_PUBLISHER_H

#include <ros/ros.h>
#include <sensor_msgs/Image.h>
#include <sensor_msgs/CameraInfo.h>
#include "image_transport/single_subscriber_publisher.h"

namespace image_transport {

class ImageTransport;

class CameraPublisher
{
public:
  CameraPublisher() {}

  uint32_t getNumSubscribers() const;

  std::string getTopic() const;

  std::string getInfoTopic() const;

  void publish(const sensor_msgs::Image& image, const sensor_msgs::CameraInfo& info) const;

  void publish(const sensor_msgs::ImageConstPtr& image,
               const sensor_msgs::CameraInfoConstPtr& info) const;

  void publish(sensor_msgs::Image& image, sensor_msgs::CameraInfo& info, ros::Time stamp) const;

  void shutdown();

  operator void*() const;
  bool operator< (const CameraPublisher& rhs) const { return impl_ <  rhs.impl_; }
  bool operator!=(const CameraPublisher& rhs) const { return impl_ != rhs.impl_; }
  bool operator==(const CameraPublisher& rhs) const { return impl_ == rhs.impl_; }

private:
  CameraPublisher(ImageTransport& image_it, ros::NodeHandle& info_nh,
                  const std::string& base_topic, uint32_t queue_size,
                  const SubscriberStatusCallback& image_connect_cb,
                  const SubscriberStatusCallback& image_disconnect_cb,
                  const ros::SubscriberStatusCallback& info_connect_cb,
                  const ros::SubscriberStatusCallback& info_disconnect_cb,
                  const ros::VoidPtr& tracked_object, bool latch);
  
  struct Impl;
  typedef boost::shared_ptr<Impl> ImplPtr;
  typedef boost::weak_ptr<Impl> ImplWPtr;
  
  ImplPtr impl_;

  friend class ImageTransport;
};

} //namespace image_transport

#endif