rgbd_camera_publisher.h

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#pragma once
 
#include <sensor_msgs/Image.h>
#include <sensor_msgs/CameraInfo.h>
#include <sensor_msgs/PointCloud2.h>
 
#include <ros/ros.h>
#include <image_transport/image_transport.h>
 
namespace camera_throttle
{
 
class RgbdImageTransport;
 
class RgbdCameraPublisher
{
public:
  RgbdCameraPublisher() = default;
  virtual ~RgbdCameraPublisher() = default;
 
  size_t getNumSubscribers() const;
 
  std::string getRGBTopic() const;
 
  std::string getRGBInfoTopic() const;
 
  std::string getDepthTopic() const;
 
  std::string getDepthInfoTopic() const;
 
  std::string getPclTopic() const;
 
  void publish(const sensor_msgs::Image& rgb_image, const sensor_msgs::CameraInfo& rgb_info,
               const sensor_msgs::Image& depth_image, const sensor_msgs::CameraInfo& depth_info) const;
 
  void publish(const sensor_msgs::Image& rgb_image, const sensor_msgs::CameraInfo& rgb_info,
               const sensor_msgs::Image& depth_image, const sensor_msgs::CameraInfo& depth_info,
               const sensor_msgs::PointCloud2& pcl) const;
 
  void publish(const sensor_msgs::ImageConstPtr& rgb_image, const sensor_msgs::CameraInfoConstPtr& rgb_info,
               const sensor_msgs::ImageConstPtr& depth_image, const sensor_msgs::CameraInfoConstPtr& depth_info) const;
 
  void publish(const sensor_msgs::ImageConstPtr& rgb_image, const sensor_msgs::CameraInfoConstPtr& rgb_info,
               const sensor_msgs::ImageConstPtr& depth_image, const sensor_msgs::CameraInfoConstPtr& depth_info,
               const sensor_msgs::PointCloud2ConstPtr& pcl) const;
 
  void publish(sensor_msgs::Image& rgb_image, sensor_msgs::CameraInfo& rgb_info,
               sensor_msgs::Image& depth_image, sensor_msgs::CameraInfo& depth_info, ros::Time stamp) const;
 
  void publish(sensor_msgs::Image& rgb_image, sensor_msgs::CameraInfo& rgb_info,
               sensor_msgs::Image& depth_image, sensor_msgs::CameraInfo& depth_info,
               sensor_msgs::PointCloud2& pcl, ros::Time stamp) const;
 
  void shutdown();
 
  explicit operator void*() const;
  bool operator< (const RgbdCameraPublisher& rhs) const { return impl <  rhs.impl; }
  bool operator!=(const RgbdCameraPublisher& rhs) const { return impl != rhs.impl; }
  bool operator==(const RgbdCameraPublisher& rhs) const { return impl == rhs.impl; }
 
private:
  RgbdCameraPublisher(RgbdImageTransport& image_it, ros::NodeHandle& rgb_nh, ros::NodeHandle& depth_nh,
    const std::string& rgb_base_topic, const std::string& depth_base_topic, size_t queue_size,
    const image_transport::SubscriberStatusCallback& rgb_connect_cb,
    const image_transport::SubscriberStatusCallback& rgb_disconnect_cb,
    const image_transport::SubscriberStatusCallback& depth_connect_cb,
    const image_transport::SubscriberStatusCallback& depth_disconnect_cb,
    const ros::SubscriberStatusCallback& rgb_info_connect_cb,
    const ros::SubscriberStatusCallback& rgb_info_disconnect_cb,
    const ros::SubscriberStatusCallback& depth_info_connect_cb,
    const ros::SubscriberStatusCallback& depth_info_disconnect_cb,
    const ros::VoidPtr& tracked_object, bool latch);
 
  RgbdCameraPublisher(RgbdImageTransport& image_it, ros::NodeHandle& rgb_nh, ros::NodeHandle& depth_nh, ros::NodeHandle& pcl_nh,
    const std::string& rgb_base_topic, const std::string& depth_base_topic, const std::string& pcl_topic,
    size_t queue_size,
    const image_transport::SubscriberStatusCallback& rgb_connect_cb,
    const image_transport::SubscriberStatusCallback& rgb_disconnect_cb,
    const image_transport::SubscriberStatusCallback& depth_connect_cb,
    const image_transport::SubscriberStatusCallback& depth_disconnect_cb,
    const ros::SubscriberStatusCallback& pcl_connect_cb,
    const ros::SubscriberStatusCallback& pcl_disconnect_cb,
    const ros::SubscriberStatusCallback& rgb_info_connect_cb,
    const ros::SubscriberStatusCallback& rgb_info_disconnect_cb,
    const ros::SubscriberStatusCallback& depth_info_connect_cb,
    const ros::SubscriberStatusCallback& depth_info_disconnect_cb,
    const ros::VoidPtr& tracked_object, bool latch);
 
  struct Impl;
  std::shared_ptr<Impl> impl;
 
  friend class RgbdImageTransport;
};
 
}