Program Listing for File crop_decimate.hpp
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// Copyright 2008, 2019 Willow Garage, Inc., Steve Macenski, Joshua Whitley
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#ifndef IMAGE_PROC__CROP_DECIMATE_HPP_
#define IMAGE_PROC__CROP_DECIMATE_HPP_
#include <string>
#include "cv_bridge/cv_bridge.hpp"
#include <image_transport/image_transport.hpp>
#include <rclcpp/rclcpp.hpp>
#include <sensor_msgs/msg/camera_info.hpp>
#include <sensor_msgs/msg/image.hpp>
namespace image_proc
{
enum class CropDecimateModes
{
CropDecimate_NN = 0,
CropDecimate_Linear = 1,
CropDecimate_Cubic = 2,
CropDecimate_Area = 3,
CropDecimate_Lanczos4 = 4
};
using cv_bridge::CvImage;
using cv_bridge::CvImageConstPtr;
using cv_bridge::toCvShare;
class CropDecimateNode : public rclcpp::Node
{
public:
explicit CropDecimateNode(const rclcpp::NodeOptions &);
private:
image_transport::CameraSubscriber sub_;
image_transport::CameraPublisher pub_;
int queue_size_;
std::string target_frame_id_;
int decimation_x_, decimation_y_, offset_x_, offset_y_, width_, height_;
std::string image_topic_;
CropDecimateModes interpolation_;
void imageCb(
const sensor_msgs::msg::Image::ConstSharedPtr image_msg,
const sensor_msgs::msg::CameraInfo::ConstSharedPtr info_msg);
};
} // namespace image_proc
#endif // IMAGE_PROC__CROP_DECIMATE_HPP_