Program Listing for File resize.hpp

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// Copyright 2008, 2019 Willow Garage, Inc., Andreas Klintberg, Joshua Whitley
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#ifndef IMAGE_PROC__RESIZE_HPP_
#define IMAGE_PROC__RESIZE_HPP_

#include <mutex>
#include <string>

#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
{

class ResizeNode
  : public rclcpp::Node
{
public:
  explicit ResizeNode(const rclcpp::NodeOptions &);

protected:
  image_transport::CameraPublisher pub_image_;
  image_transport::CameraSubscriber sub_image_;

  int interpolation_;
  bool use_scale_;
  double scale_height_;
  double scale_width_;
  int height_;
  int width_;
  std::string image_topic_;

  cv_bridge::CvImage scaled_cv_;

  std::mutex connect_mutex_;

  void connectCb();

  void imageCb(
    sensor_msgs::msg::Image::ConstSharedPtr image_msg,
    sensor_msgs::msg::CameraInfo::ConstSharedPtr info_msg);
};

}  // namespace image_proc

#endif  // IMAGE_PROC__RESIZE_HPP_