Program Listing for File extract_images_node.hpp

↰ Return to documentation for file (/tmp/ws/src/image_pipeline/image_view/include/image_view/extract_images_node.hpp)

/*********************************************************************
* Software License Agreement (BSD License)
*
*  Copyright (c) 2008, Willow Garage, Inc.
*  All rights reserved.
*
*  Redistribution and use in source and binary forms, with or without
*  modification, are permitted provided that the following conditions
*  are met:
*
*   * Redistributions of source code must retain the above copyright
*     notice, this list of conditions and the following disclaimer.
*   * 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.
*   * Neither the name of the Willow Garage 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 OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
*  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
*  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
*  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
*  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
*  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
*  POSSIBILITY OF SUCH DAMAGE.
*********************************************************************/

// Copyright 2019, Joshua Whitley
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.

#ifndef IMAGE_VIEW__EXTRACT_IMAGES_NODE_HPP_
#define IMAGE_VIEW__EXTRACT_IMAGES_NODE_HPP_

#include <mutex>
#include <string>

#include <rclcpp/rclcpp.hpp>
#include <image_transport/image_transport.hpp>
#include <sensor_msgs/msg/image.hpp>

#include <boost/format.hpp>

namespace image_view
{

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

private:
  image_transport::Subscriber sub_;

  sensor_msgs::msg::Image::ConstSharedPtr last_msg_;
  std::mutex image_mutex_;

  std::string window_name_;
  boost::format filename_format_;
  int count_;
  rclcpp::Time _time;
  double sec_per_frame_;

  void image_cb(const sensor_msgs::msg::Image::ConstSharedPtr & msg);
};

}  // namespace image_view

#endif  // IMAGE_VIEW__EXTRACT_IMAGES_NODE_HPP_