camera_publisher.h

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/****************************************************************************
 *
 * fkie_message_filters
 * Copyright © 2018-2020 Fraunhofer FKIE
 * Author: Timo Röhling
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *
 ****************************************************************************/
#ifndef INCLUDE_FKIE_MESSAGE_FILTERS_CAMERA_PUBLISHER_H_
#define INCLUDE_FKIE_MESSAGE_FILTERS_CAMERA_PUBLISHER_H_

#include "publisher_base.h"
#include "sink.h"
#include <sensor_msgs/Image.h>
#include <sensor_msgs/CameraInfo.h>
#include <image_transport/image_transport.h>

namespace fkie_message_filters
{

class CameraPublisher : public PublisherBase, public Sink<sensor_msgs::ImageConstPtr, sensor_msgs::CameraInfoConstPtr>
{
public:
    CameraPublisher() noexcept {}
    CameraPublisher (const image_transport::ImageTransport& it, const std::string& base_topic, uint32_t queue_size, bool latch = false) noexcept;
    virtual bool is_active() const noexcept override;
    virtual std::string topic() const noexcept override;
    void advertise (const image_transport::ImageTransport& it, const std::string& base_topic, uint32_t queue_size, bool latch = false) noexcept;
    void advertise (const image_transport::ImageTransport& it, const std::string& base_topic, uint32_t queue_size, const image_transport::SubscriberStatusCallback& image_connect_cb, const image_transport::SubscriberStatusCallback& image_disconnect_cb = image_transport::SubscriberStatusCallback(), const ros::SubscriberStatusCallback& info_connect_cb = ros::SubscriberStatusCallback(), const ros::SubscriberStatusCallback& info_disconnect_cb = ros::SubscriberStatusCallback(), const ros::VoidPtr& tracked_object = ros::VoidPtr(), bool latch = false) noexcept;
protected:
    void receive (const sensor_msgs::ImageConstPtr&, const sensor_msgs::CameraInfoConstPtr&) noexcept override;
private:
    std::shared_ptr<image_transport::ImageTransport> it_;
    image_transport::CameraPublisher pub_;
};

} // namespace fkie_message_filters

#endif /* INCLUDE_FKIE_MESSAGE_FILTERS_CAMERA_PUBLISHER_H_ */