mono_offsetter.cpp

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#include "camera_offsetter/generic_offsetter.h"
#include "sensor_msgs/Image.h"
#include "sensor_msgs/CameraInfo.h"

using namespace std;

namespace camera_offsetter
{

class MonoOffsetter : public GenericOffsetter
{
public:
  MonoOffsetter()
  {
    ros::NodeHandle nh_private("~");

    cam_name_ = nh_.resolveName("camera");
    if (cam_name_ == "camera")
      ROS_WARN("camera was not remapped. Are you sure your camera namespace is 'camera'?");

    source_nh_ = ros::NodeHandle(cam_name_);
    offset_nh_ = ros::NodeHandle(cam_name_ + "_offset");

    vector<string> image_topics;

    bool offset_raw = false;
    nh_private.getParam("use_raw", offset_raw);
    if (offset_raw)
      image_topics.push_back("image_raw");

    bool offset_rect = false;
    nh_private.getParam("use_rect", offset_rect);
    if (offset_rect)
      image_topics.push_back("image_rect");

    bool offset_rect_color = false;
    nh_private.getParam("use_rect_color", offset_rect_color);
    if (offset_rect_color)
      image_topics.push_back("image_rect_color");

    for (size_t i=0; i < image_topics.size(); i++)
    {
      ros::Publisher  pub = offset_nh_.advertise<sensor_msgs::Image>(image_topics[i], 1);

      ros::SubscribeOptions ops;

      boost::function< void(const sensor_msgs::ImageConstPtr&) > f = boost::bind(&MonoOffsetter::imageCb, this, _1, pub);
      ros::Subscriber sub = source_nh_.subscribe(image_topics[i], 1, f);
      image_subs_.push_back(sub);
      image_pubs_.push_back(pub);
    }

    info_sub_  = source_nh_.subscribe("camera_info", 1, &MonoOffsetter::infoCb,  this);
    info_pub_  = offset_nh_.advertise<sensor_msgs::CameraInfo>("camera_info", 1);
  }

  void imageCb(const sensor_msgs::ImageConstPtr& msg, ros::Publisher image_pub)
  {
    sensor_msgs::Image next_image = *msg;
    next_image.header.frame_id = msg->header.frame_id + frame_suffix_;
    image_pub.publish(next_image);

    publishTransform(msg->header.stamp, next_image.header.frame_id, msg->header.frame_id);
  }

  void infoCb(const sensor_msgs::CameraInfoConstPtr& msg)
  {
    sensor_msgs::CameraInfo next_info = *msg;
    next_info.header.frame_id = msg->header.frame_id + frame_suffix_;
    info_pub_.publish(next_info);
  }

private:
  ros::NodeHandle nh_;
  ros::NodeHandle source_nh_;
  ros::NodeHandle offset_nh_;

  string cam_name_;

  vector<ros::Subscriber> image_subs_;
  vector<ros::Publisher>  image_pubs_;

  ros::Subscriber info_sub_;
  ros::Publisher  info_pub_;
} ;

}

using namespace camera_offsetter;

int main(int argc, char** argv)
{
  ros::init(argc, argv, "mono_offsetter");

  MonoOffsetter offsetter;

  ros::spin();
}