camera_subscriber.h

Go to the documentation of this file.

/****************************************************************************
 *
 * fkie_message_filters
 * Copyright © 2018-2020 Fraunhofer FKIE
 * Author: Timo Röhling
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *
 ****************************************************************************/
#ifndef INCLUDE_FKIE_MESSAGE_FILTERS_CAMERA_SUBSCRIBER_H_
#define INCLUDE_FKIE_MESSAGE_FILTERS_CAMERA_SUBSCRIBER_H_
 
#include "subscriber_base.h"
#include "source.h"
#include <sensor_msgs/Image.h>
#include <sensor_msgs/CameraInfo.h>
#include <image_transport/image_transport.h>
 
namespace fkie_message_filters
{
 
class CameraSubscriber : public SubscriberBase, public Source<sensor_msgs::ImageConstPtr, sensor_msgs::CameraInfoConstPtr>
{
public:
    CameraSubscriber() noexcept {}
    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;
    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;
    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;
    using SubscriberBase::subscribe;
    using SubscriberBase::unsubscribe;
    using SubscriberBase::subscribe_on_demand;
    virtual std::string topic() const noexcept override;
protected:
    virtual bool is_configured() const noexcept override;
    virtual void subscribe_impl() noexcept override;
    virtual void unsubscribe_impl() noexcept override;
private:
    void cb(const sensor_msgs::ImageConstPtr&, const sensor_msgs::CameraInfoConstPtr&);
    std::shared_ptr<image_transport::ImageTransport> it_;
    std::string base_topic_;
    uint32_t queue_size_;
    image_transport::TransportHints hints_;
    image_transport::CameraSubscriber sub_;
};
 
} // namespace fkie_message_filters
 
#endif /* INCLUDE_FKIE_MESSAGE_FILTERS_CAMERA_SUBSCRIBER_H_ */