camera_throttle.h

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#pragma once
 
#include <memory>
#include <mutex>
#include <optional>
 
#include <cras_cpp_common/nodelet_utils.hpp>
#include <image_transport/camera_subscriber.h>
#include <image_transport/camera_publisher.h>
 
namespace camera_throttle
{
 
class CameraThrottleNodelet : public cras::Nodelet
{
  public: CameraThrottleNodelet();
  public: virtual ~CameraThrottleNodelet() {};
 
  protected: void onInit() override;
 
  protected: virtual void cb(const sensor_msgs::ImageConstPtr& img, const sensor_msgs::CameraInfoConstPtr& info);
 
  protected: virtual void onFirstConnect();
  protected: virtual void onLastDisconnect();
 
  protected: ros::NodeHandle subNh;
  protected: ros::NodeHandle pubNh;
  protected: std::unique_ptr<image_transport::ImageTransport> subTransport;
  protected: std::unique_ptr<image_transport::ImageTransport> pubTransport;
  protected: std::optional<image_transport::CameraSubscriber> sub;
  protected: image_transport::CameraPublisher pub;
  protected: std::optional<ros::Rate> rate;
  protected: std::optional<std::string> frameId;
  protected: bool flipHorizontal{false};
  protected: bool flipVertical{false};
  protected: size_t queueSize {10};
  protected: ros::Time lastUpdate;
  protected: std::string subBaseName;
  protected: std::string pubBaseName;
 
  protected: std::mutex publishersMutex;
 
  private: void img_connect_cb(const image_transport::SingleSubscriberPublisher&);
  private: void info_connect_cb(const ros::SingleSubscriberPublisher&);
  private: void img_disconnect_cb(const image_transport::SingleSubscriberPublisher&);
  private: void info_disconnect_cb(const ros::SingleSubscriberPublisher&);
 
  struct CameraThrottlePrivate;
  private: std::unique_ptr<CameraThrottlePrivate> data;
};
 
}