camera_subscriber.h
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3  * fkie_message_filters
4  * Copyright © 2018-2020 Fraunhofer FKIE
5  * Author: Timo Röhling
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20 #ifndef INCLUDE_FKIE_MESSAGE_FILTERS_CAMERA_SUBSCRIBER_H_
21 #define INCLUDE_FKIE_MESSAGE_FILTERS_CAMERA_SUBSCRIBER_H_
22 
23 #include "subscriber_base.h"
24 #include "source.h"
25 #include <sensor_msgs/Image.h>
26 #include <sensor_msgs/CameraInfo.h>
28 
29 namespace fkie_message_filters
30 {
31 
44 class CameraSubscriber : public SubscriberBase, public Source<sensor_msgs::ImageConstPtr, sensor_msgs::CameraInfoConstPtr>
45 {
46 public:
51  CameraSubscriber() noexcept {}
63  CameraSubscriber(const image_transport::ImageTransport& it, const std::string& base_topic, uint32_t queue_size, const image_transport::TransportHints& transport_hints = image_transport::TransportHints()) noexcept;
76  void set_subscribe_options(const image_transport::ImageTransport& it, const std::string& base_topic, uint32_t queue_size, const image_transport::TransportHints& transport_hints = image_transport::TransportHints()) noexcept;
89  void subscribe(const image_transport::ImageTransport& it, const std::string& base_topic, uint32_t queue_size, const image_transport::TransportHints& transport_hints = image_transport::TransportHints()) noexcept;
97  virtual std::string topic() const noexcept override;
98 protected:
103  virtual bool is_configured() const noexcept override;
108  virtual void subscribe_impl() noexcept override;
113  virtual void unsubscribe_impl() noexcept override;
114 private:
115  void cb(const sensor_msgs::ImageConstPtr&, const sensor_msgs::CameraInfoConstPtr&);
116  std::shared_ptr<image_transport::ImageTransport> it_;
117  std::string base_topic_;
118  uint32_t queue_size_;
121 };
122 
123 } // namespace fkie_message_filters
124 
125 #endif /* INCLUDE_FKIE_MESSAGE_FILTERS_CAMERA_SUBSCRIBER_H_ */
image_transport::CameraSubscriber sub_
void cb(const sensor_msgs::ImageConstPtr &, const sensor_msgs::CameraInfoConstPtr &)
Base class for data providers.
Definition: sink.h:33
virtual void unsubscribe_impl() noexcept override
Shut the ROS subscriber down.
virtual void subscribe_on_demand(PublisherBase &pub)
Subscribe to the configured ROS topic whenever the given publisher is active.
virtual void subscribe()
Subscribe to the configured ROS topic.
Subscribe to ROS camera topics as data provider.
image_transport::TransportHints hints_
Base class for ROS subscribers in a filter pipeline.
virtual bool is_configured() const noexcept override
Check if the ROS subscriber is properly configured.
Primary namespace.
Definition: buffer.h:33
void set_subscribe_options(const image_transport::ImageTransport &it, const std::string &base_topic, uint32_t queue_size, const image_transport::TransportHints &transport_hints=image_transport::TransportHints()) noexcept
Configure ROS topic that is to be subscribed.
CameraSubscriber() noexcept
Constructs an empty subscriber.
virtual std::string topic() const noexcept override
Return the configured ROS topic.
std::shared_ptr< image_transport::ImageTransport > it_
virtual void unsubscribe()
Unsubscribe from the configured ROS topic.
virtual void subscribe_impl() noexcept override
Create a ROS subscriber.


fkie_message_filters
Author(s): Timo Röhling
autogenerated on Sun Sep 12 2021 02:52:12