rgbd_image_transport.h

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#pragma once
 
#include <image_transport/image_transport.h>
#include <camera_throttle/rgbd_camera_publisher.h>
#include <camera_throttle/rgbd_camera_subscriber.h>
 
namespace camera_throttle
{
 
class RgbdImageTransport : public image_transport::ImageTransport
{
  public: RgbdImageTransport(const ros::NodeHandle& rgbNh, const ros::NodeHandle& depthNh);
  public: RgbdImageTransport(const ros::NodeHandle& rgbNh, const ros::NodeHandle& depthNh, const ros::NodeHandle& pclNh);
  public: virtual ~RgbdImageTransport() = default;
 
  public: RgbdCameraPublisher advertiseRgbdCamera(const std::string& rgb_base_topic, const std::string& depth_base_topic,
                                             size_t queue_size, bool latch = false);
 
  public: RgbdCameraPublisher advertiseRgbdCamera(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 = image_transport::SubscriberStatusCallback(),
                                  const image_transport::SubscriberStatusCallback& depth_connect_cb = image_transport::SubscriberStatusCallback(),
                                  const image_transport::SubscriberStatusCallback& depth_disconnect_cb = image_transport::SubscriberStatusCallback(),
                                  const ros::SubscriberStatusCallback& rgb_info_connect_cb = ros::SubscriberStatusCallback(),
                                  const ros::SubscriberStatusCallback& rgb_info_disconnect_cb = ros::SubscriberStatusCallback(),
                                  const ros::SubscriberStatusCallback& depth_info_connect_cb = ros::SubscriberStatusCallback(),
                                  const ros::SubscriberStatusCallback& depth_info_disconnect_cb = ros::SubscriberStatusCallback(),
                                  const ros::VoidPtr& tracked_object = ros::VoidPtr(), bool latch = false);
 
  public: RgbdCameraPublisher advertiseRgbdCamera(const std::string& rgb_base_topic, const std::string& depth_base_topic,
                                              const std::string& pcl_topic, size_t queue_size, bool latch = false);
 
  public: RgbdCameraPublisher advertiseRgbdCamera(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 = image_transport::SubscriberStatusCallback(),
                                  const image_transport::SubscriberStatusCallback& depth_connect_cb = image_transport::SubscriberStatusCallback(),
                                  const image_transport::SubscriberStatusCallback& depth_disconnect_cb = image_transport::SubscriberStatusCallback(),
                                  const ros::SubscriberStatusCallback& pcl_connect_cb = ros::SubscriberStatusCallback(),
                                  const ros::SubscriberStatusCallback& pcl_disconnect_cb = ros::SubscriberStatusCallback(),
                                  const ros::SubscriberStatusCallback& rgb_info_connect_cb = ros::SubscriberStatusCallback(),
                                  const ros::SubscriberStatusCallback& rgb_info_disconnect_cb = ros::SubscriberStatusCallback(),
                                  const ros::SubscriberStatusCallback& depth_info_connect_cb = ros::SubscriberStatusCallback(),
                                  const ros::SubscriberStatusCallback& depth_info_disconnect_cb = ros::SubscriberStatusCallback(),
                                  const ros::VoidPtr& tracked_object = ros::VoidPtr(), bool latch = false);
 
  RgbdCameraSubscriber subscribeRgbdCamera(const std::string& rgb_base_topic, const std::string& depth_base_topic, size_t queue_size,
                                   const RgbdCameraSubscriber::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 subscribeRgbdCamera(const std::string& rgb_base_topic, const std::string& depth_base_topic, size_t queue_size,
                                   void(*fp)(const sensor_msgs::ImageConstPtr&,
                                             const sensor_msgs::CameraInfoConstPtr&,
                                             const sensor_msgs::ImageConstPtr&,
                                             const sensor_msgs::CameraInfoConstPtr&),
                                   const image_transport::TransportHints& transport_hints_rgb = image_transport::TransportHints(),
                                   const image_transport::TransportHints& transport_hints_depth = image_transport::TransportHints())
  {
    return subscribeRgbdCamera(rgb_base_topic, depth_base_topic, queue_size, RgbdCameraSubscriber::Callback(fp), ros::VoidPtr(),
                           transport_hints_rgb, transport_hints_depth);
  }
 
  template<class T>
  RgbdCameraSubscriber subscribeRgbdCamera(const std::string& rgb_base_topic, const std::string& depth_base_topic, size_t queue_size,
                                   void(T::*fp)(const sensor_msgs::ImageConstPtr&,
                                                const sensor_msgs::CameraInfoConstPtr&,
                                                const sensor_msgs::ImageConstPtr&,
                                                const sensor_msgs::CameraInfoConstPtr&), T* obj,
                                   const image_transport::TransportHints& transport_hints_rgb = image_transport::TransportHints(),
                                   const image_transport::TransportHints& transport_hints_depth = image_transport::TransportHints())
  {
    return subscribeRgbdCamera(rgb_base_topic, depth_base_topic, queue_size, boost::bind(fp, obj, _1, _2, _3, _4), ros::VoidPtr(),
                           transport_hints_rgb, transport_hints_depth);
  }
 
  template<class T>
  RgbdCameraSubscriber subscribeRgbdCamera(const std::string& rgb_base_topic, const std::string& depth_base_topic, size_t queue_size,
                                   void(T::*fp)(const sensor_msgs::ImageConstPtr&,
                                                const sensor_msgs::CameraInfoConstPtr&,
                                                const sensor_msgs::ImageConstPtr&,
                                                const sensor_msgs::CameraInfoConstPtr&),
                                   const boost::shared_ptr<T>& obj,
                                   const image_transport::TransportHints& transport_hints_rgb = image_transport::TransportHints(),
                                   const image_transport::TransportHints& transport_hints_depth = image_transport::TransportHints())
  {
    return subscribeRgbdCamera(rgb_base_topic, depth_base_topic, queue_size, boost::bind(fp, obj.get(), _1, _2, _3, _4), obj,
                           transport_hints_rgb, transport_hints_depth);
  }
 
 
 
  RgbdCameraSubscriber subscribeRgbdCamera(const std::string& rgb_base_topic, const std::string& depth_base_topic,
                                   const std::string& pcl_topic, size_t queue_size,
                                   const RgbdCameraSubscriber::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());
 
  RgbdCameraSubscriber subscribeRgbdCamera(const std::string& rgb_base_topic, const std::string& depth_base_topic,
                                   const std::string& pcl_topic, size_t queue_size,
                                   void(*fp)(const sensor_msgs::ImageConstPtr&,
                                             const sensor_msgs::CameraInfoConstPtr&,
                                             const sensor_msgs::ImageConstPtr&,
                                             const sensor_msgs::CameraInfoConstPtr&,
                                             const sensor_msgs::PointCloud2ConstPtr&),
                                   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())
  {
    return subscribeRgbdCamera(rgb_base_topic, depth_base_topic, pcl_topic, queue_size, RgbdCameraSubscriber::PclCallback(fp), ros::VoidPtr(),
                           transport_hints_rgb, transport_hints_depth, transport_hints_pcl);
  }
 
  template<class T>
  RgbdCameraSubscriber subscribeRgbdCamera(const std::string& rgb_base_topic, const std::string& depth_base_topic,
                                   const std::string& pcl_topic, size_t queue_size,
                                   void(T::*fp)(const sensor_msgs::ImageConstPtr&,
                                                const sensor_msgs::CameraInfoConstPtr&,
                                                const sensor_msgs::ImageConstPtr&,
                                                const sensor_msgs::CameraInfoConstPtr&,
                                                const sensor_msgs::PointCloud2ConstPtr&), T* obj,
                                   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())
  {
    return subscribeRgbdCamera(rgb_base_topic, depth_base_topic, pcl_topic, queue_size, boost::bind(fp, obj, _1, _2, _3, _4, _5), ros::VoidPtr(),
                           transport_hints_rgb, transport_hints_depth, transport_hints_pcl);
  }
 
  template<class T>
  RgbdCameraSubscriber subscribeRgbdCamera(const std::string& rgb_base_topic, const std::string& depth_base_topic,
                                   const std::string& pcl_topic, size_t queue_size,
                                   void(T::*fp)(const sensor_msgs::ImageConstPtr&,
                                                const sensor_msgs::CameraInfoConstPtr&,
                                                const sensor_msgs::ImageConstPtr&,
                                                const sensor_msgs::CameraInfoConstPtr&,
                                                const sensor_msgs::PointCloud2ConstPtr&),
                                   const boost::shared_ptr<T>& obj,
                                   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())
  {
    return subscribeRgbdCamera(rgb_base_topic, depth_base_topic, pcl_topic, queue_size, boost::bind(fp, obj.get(), _1, _2, _3, _4, _5), obj,
                           transport_hints_rgb, transport_hints_depth, transport_hints_pcl);
  }
 
  protected: ros::NodeHandle rgbNh;
  protected: ros::NodeHandle depthNh;
  protected: ros::NodeHandle pclNh;
};
 
}