camera_param_publisher.h

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/*
 * Copyright (c) 2019 Roboception GmbH
 * All rights reserved
 *
 * Author: Christian Emmerich
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 * 1. Redistributions of source code must retain the above copyright notice,
 * this list of conditions and the following disclaimer.
 *
 * 2. Redistributions in binary form must reproduce the above copyright notice,
 * this list of conditions and the following disclaimer in the documentation
 * and/or other materials provided with the distribution.
 *
 * 3. Neither the name of the copyright holder nor the names of its contributors
 * may be used to endorse or promote products derived from this software without
 * specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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 */

#ifndef RC_CAMERAPARAMPUBLISHER_H
#define RC_CAMERAPARAMPUBLISHER_H

#include "genicam2ros_publisher.h"

#include <ros/ros.h>
#include <rc_common_msgs/CameraParam.h>

namespace rc
{
class CameraParamPublisher
{
public:
  CameraParamPublisher(ros::NodeHandle& nh, const std::string& frame_id_prefix, bool left);

  bool used();

  void publish(const rcg::Buffer* buffer, const rc_common_msgs::CameraParam& params,
    uint64_t pixelformat);

private:
  CameraParamPublisher(const CameraParamPublisher&);             // forbidden
  CameraParamPublisher& operator=(const CameraParamPublisher&);  // forbidden

  std::string frame_id;
  // rc_common_msgs::CameraParam params;
  ros::Publisher pub;
};
}

#endif