color_laser.h

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#ifndef MULTISENSE_ROS_COLOR_LASER_H
#define MULTISENSE_ROS_COLOR_LASER_H
 
#include <mutex>
#include <string>
#include <vector>
 
#include <ros/ros.h>
#include <sensor_msgs/PointCloud2.h>
#include <sensor_msgs/Image.h>
#include <sensor_msgs/CameraInfo.h>
 
namespace multisense_ros{
 
class ColorLaser
{
    public:
 
        ColorLaser(
            ros::NodeHandle& nh,
            const std::string &tf_prefix
        );
 
        ~ColorLaser() = default;
 
        //
        // Callbacks for subscriptions to ROS topics
 
        void colorImageCallback(const sensor_msgs::Image::ConstPtr& message);
        void laserPointCloudCallback(sensor_msgs::PointCloud2::Ptr message);
        void cameraInfoCallback(const sensor_msgs::CameraInfo::ConstPtr& message);
 
    private:
 
        //
        // Callback used to setup subscribers once there is a subscription
        // to the lidar_points2_color topic
 
        void startStreaming();
        void stopStreaming();
 
        //
        // Messages for local storage of sensor data
 
        sensor_msgs::Image       color_image_;
        sensor_msgs::CameraInfo  camera_info_;
 
        sensor_msgs::PointCloud2 color_laser_pointcloud_;
 
        //
        // Publisher for the colorized laser point cloud
 
        ros::Publisher color_laser_publisher_;
 
        //
        // Subscribers for image, point cloud, and camera info topics
 
        ros::Subscriber color_image_sub_;
        ros::Subscriber laser_pointcloud_sub_;
        ros::Subscriber camera_info_sub_;
 
        //
        // Node handle used for publishing/subscribing to topics
 
        ros::NodeHandle node_handle_;
 
        //
        // Mutex to assure callbacks don't interfere with one another
 
        std::mutex data_lock_;
 
        //
        // The number of channels in our color image
 
        uint8_t image_channels_;
 
        //
        // The TF prefix to publish laser point clouds with
 
        std::string tf_prefix_;
};
 
}// namespace
 
#endif