camera_subscriber.cpp

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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.
 *
 ****************************************************************************/

#include <fkie_message_filters/camera_subscriber.h>

namespace fkie_message_filters
{

CameraSubscriber::CameraSubscriber(const image_transport::ImageTransport& it, const std::string& base_topic, uint32_t queue_size, const image_transport::TransportHints& transport_hints) noexcept
{
    set_subscribe_options(it, base_topic, queue_size, transport_hints);
    subscribe();
}

void CameraSubscriber::set_subscribe_options(const image_transport::ImageTransport& it, const std::string& base_topic, uint32_t queue_size, const image_transport::TransportHints& transport_hints) noexcept
{
    it_ = std::make_shared<image_transport::ImageTransport>(it);
    base_topic_ = base_topic;
    queue_size_ = queue_size;
    hints_ = transport_hints;
}

void CameraSubscriber::subscribe(const image_transport::ImageTransport& it, const std::string& base_topic, uint32_t queue_size, const image_transport::TransportHints& transport_hints) noexcept
{
    set_subscribe_options(it, base_topic, queue_size, transport_hints);
    subscribe();
}

std::string CameraSubscriber::topic() const noexcept
{
    return sub_.getTopic();
}

bool CameraSubscriber::is_configured() const noexcept
{
    return it_ && !base_topic_.empty();
}

void CameraSubscriber::subscribe_impl() noexcept
{
    if (!sub_)
    {
        sub_ = it_->subscribeCamera(
            base_topic_, queue_size_,
            [this](const sensor_msgs::ImageConstPtr& img, const sensor_msgs::CameraInfoConstPtr& info)
            {
                this->cb(img, info);
            },
            ros::VoidPtr(), hints_
        );
    }
}

void CameraSubscriber::unsubscribe_impl() noexcept
{
    sub_.shutdown();
}

void CameraSubscriber::cb (const sensor_msgs::ImageConstPtr& img, const sensor_msgs::CameraInfoConstPtr& info)
{
    send(img, info);
}

} // namespace fkie_message_filters