ipcamera_driver.hpp

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/*
 * Copyright (c) 2018, Alireza Hosseini.
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 *     * Redistributions of source code must retain the above copyright
 *       notice, this list of conditions and the following disclaimer.
 *     * Redistributions in binary form must reproduce the above copyright
 *       notice, this list of conditions and the following disclaimer in the
 *       documentation and/or other materials provided with the distribution.
 *     * Neither the name of the Willow Garage, Inc. nor the names of its
 *       contributors may be used to endorse or promote products derived from
 *       this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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 */

/* Author: Alireza Hosseini */

#ifndef IPCAMERA_DRIVER_HPP
#define IPCAMERA_DRIVER_HPP

#include <camera_info_manager/camera_info_manager.h>
#include <cv_bridge/cv_bridge.h>
#include <image_transport/camera_publisher.h>
#include <image_transport/image_transport.h>
#include <ros/service_server.h>
#include <std_srvs/Empty.h>
#include <opencv2/highgui/highgui.hpp>

class IpCameraDriver
{
public:
  explicit IpCameraDriver();
  bool publish();
  bool refreshSrvCallback(std_srvs::Empty::Request &req, std_srvs::Empty::Response &res);

private:
  ros::NodeHandle pnh_;
  image_transport::ImageTransport image_transport_;
  image_transport::CameraPublisher camera_pub_;
  std::string video_url_;
  std::string camera_info_url_;
  std::string frame_id_;
  ros::ServiceServer refresh_service_server_;
  cv::VideoCapture cap_;
  camera_info_manager::CameraInfoManager camera_info_manager_;
};

#endif