rgbd_camera_subscriber.h

Go to the documentation of this file.

#pragma once
 
#include <ros/ros.h>
#include <sensor_msgs/CameraInfo.h>
#include <sensor_msgs/Image.h>
#include <sensor_msgs/PointCloud2.h>
#include <image_transport/transport_hints.h>
 
namespace camera_throttle {
 
class RgbdImageTransport;
 
class RgbdCameraSubscriber
{
public:
  typedef boost::function<void(const sensor_msgs::ImageConstPtr&,
                               const sensor_msgs::CameraInfoConstPtr&,
                               const sensor_msgs::ImageConstPtr&,
                               const sensor_msgs::CameraInfoConstPtr&)> Callback;
  typedef boost::function<void(const sensor_msgs::ImageConstPtr&,
                               const sensor_msgs::CameraInfoConstPtr&,
                               const sensor_msgs::ImageConstPtr&,
                               const sensor_msgs::CameraInfoConstPtr&,
                               const sensor_msgs::PointCloud2ConstPtr&)> PclCallback;
 
  RgbdCameraSubscriber() {}
 
  std::string getRGBTopic() const;
 
  std::string getRGBInfoTopic() const;
 
  std::string getDepthTopic() const;
 
  std::string getDepthInfoTopic() const;
 
  std::string getPclTopic() const;
 
  size_t getNumPublishers() const;
 
  std::string getRGBTransport() const;
 
  std::string getDepthTransport() const;
 
  void shutdown();
 
  explicit operator void*() const;
  bool operator< (const RgbdCameraSubscriber& rhs) const { return impl <  rhs.impl; }
  bool operator!=(const RgbdCameraSubscriber& rhs) const { return impl != rhs.impl; }
  bool operator==(const RgbdCameraSubscriber& rhs) const { return impl == rhs.impl; }
 
private:
  RgbdCameraSubscriber(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 Callback& callback,
                   const ros::VoidPtr& tracked_object = ros::VoidPtr(),
                   const image_transport::TransportHints& transport_hints_rgb = image_transport::TransportHints(),
                   const image_transport::TransportHints& transport_hints_depth = image_transport::TransportHints());
  RgbdCameraSubscriber(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 PclCallback& callback,
                   const ros::VoidPtr& tracked_object = ros::VoidPtr(),
                   const image_transport::TransportHints& transport_hints_rgb = image_transport::TransportHints(),
                   const image_transport::TransportHints& transport_hints_depth = image_transport::TransportHints(),
                   const ros::TransportHints& transport_hints_pcl = ros::TransportHints());
 
  struct Impl;
  std::shared_ptr<Impl> impl;
 
  friend class RgbdImageTransport;
};
 
}