Program Listing for File camera_info_manager.hpp

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#ifndef CAMERA_INFO_MANAGER__CAMERA_INFO_MANAGER_HPP_
#define CAMERA_INFO_MANAGER__CAMERA_INFO_MANAGER_HPP_

#include <memory>
#include <mutex>
#include <string>

#include "rclcpp/node.hpp"
#include "rclcpp_lifecycle/lifecycle_node.hpp"
#include "sensor_msgs/msg/camera_info.hpp"
#include "sensor_msgs/srv/set_camera_info.hpp"
#include "camera_info_manager/visibility_control.h"

namespace camera_info_manager
{

using CameraInfo = sensor_msgs::msg::CameraInfo;
using SetCameraInfo = sensor_msgs::srv::SetCameraInfo;

class CameraInfoManager
{
public:
  CAMERA_INFO_MANAGER_PUBLIC
  CameraInfoManager(
    rclcpp::Node * node,
    const std::string & cname = "camera",
    const std::string & url = "");

  CAMERA_INFO_MANAGER_PUBLIC
  CameraInfoManager(
    rclcpp_lifecycle::LifecycleNode * node,
    const std::string & cname = "camera",
    const std::string & url = "");

  CAMERA_INFO_MANAGER_PUBLIC
  CameraInfoManager(
    rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_base_interface,
    rclcpp::node_interfaces::NodeServicesInterface::SharedPtr node_services_interface,
    rclcpp::node_interfaces::NodeLoggingInterface::SharedPtr node_logger_interface,
    const std::string & cname = "camera", const std::string & url = "",
    rmw_qos_profile_t custom_qos = rmw_qos_profile_default);

  CAMERA_INFO_MANAGER_PUBLIC
  CameraInfo getCameraInfo(void);

  CAMERA_INFO_MANAGER_PUBLIC
  bool isCalibrated(void);

  CAMERA_INFO_MANAGER_PUBLIC
  bool loadCameraInfo(const std::string & url);

  CAMERA_INFO_MANAGER_PUBLIC
  std::string resolveURL(
    const std::string & url,
    const std::string & cname);

  CAMERA_INFO_MANAGER_PUBLIC
  bool setCameraName(const std::string & cname);

  CAMERA_INFO_MANAGER_PUBLIC
  bool setCameraInfo(const CameraInfo & camera_info);

  CAMERA_INFO_MANAGER_PUBLIC
  bool validateURL(const std::string & url);

private:
  // recognized URL types
  typedef enum
  {
    // supported URLs
    URL_empty = 0,               // empty string
    URL_file,                    // file:
    URL_package,                 // package:
    // URLs not supported
    URL_invalid,                 // anything >= is invalid
    URL_flash,                   // flash:
  } url_type_t;

  // private methods
  std::string getPackageFileName(const std::string & url);

  bool loadCalibration(
    const std::string & url,
    const std::string & cname);

  bool loadCalibrationFile(
    const std::string & filename,
    const std::string & cname);

  url_type_t parseURL(const std::string & url);

  bool saveCalibration(
    const CameraInfo & new_info,
    const std::string & url,
    const std::string & cname);

  bool saveCalibrationFile(
    const CameraInfo & new_info,
    const std::string & filename,
    const std::string & cname);

  void setCameraInfoService(
    const std::shared_ptr<SetCameraInfo::Request> req,
    std::shared_ptr<SetCameraInfo::Response> rsp);

  std::mutex mutex_;

  // private data
  rclcpp::Service<SetCameraInfo>::SharedPtr info_service_;
  rclcpp::Logger logger_;
  std::string camera_name_;
  std::string url_;
  CameraInfo cam_info_;
  bool loaded_cam_info_;
};  // class CameraInfoManager
}  // namespace camera_info_manager

#endif  // CAMERA_INFO_MANAGER__CAMERA_INFO_MANAGER_HPP_