camera.hpp
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00001 /*
00002  * Copyright 2015 Aldebaran
00003  *
00004  * Licensed under the Apache License, Version 2.0 (the "License");
00005  * you may not use this file except in compliance with the License.
00006  * You may obtain a copy of the License at
00007  *
00008  *     http://www.apache.org/licenses/LICENSE-2.0
00009  *
00010  * Unless required by applicable law or agreed to in writing, software
00011  * distributed under the License is distributed on an "AS IS" BASIS,
00012  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
00013  * See the License for the specific language governing permissions and
00014  * limitations under the License.
00015  *
00016 */
00017 
00018 #ifndef PUBLISHER_CAMERA_HPP
00019 #define PUBLISHER_CAMERA_HPP
00020 
00021 /*
00022 * ROS includes
00023 */
00024 #include <ros/ros.h>
00025 #include <image_transport/image_transport.h>
00026 
00027 namespace naoqi
00028 {
00029 namespace publisher
00030 {
00031 
00032 class CameraPublisher
00033 {
00034 public:
00035   CameraPublisher( const std::string& topic, int camera_source );
00036 
00037   ~CameraPublisher();
00038 
00039   inline std::string topic() const
00040   {
00041     return topic_;
00042   }
00043 
00044   inline bool isInitialized() const
00045   {
00046     return is_initialized_;
00047   }
00048 
00049   void publish( const sensor_msgs::ImagePtr& img, const sensor_msgs::CameraInfo& camera_info );
00050 
00051   void reset( ros::NodeHandle& nh );
00052 
00053   inline bool isSubscribed() const
00054   {
00055     if (is_initialized_ == false) return false;
00056     return pub_.getNumSubscribers() > 0;
00057   }
00058 
00059 private:
00060   std::string topic_;
00061 
00062   bool is_initialized_;
00063 
00064   //image_transport::ImageTransport it_;
00065   image_transport::CameraPublisher pub_;
00066 
00067   int camera_source_;
00068 };
00069 
00070 } //publisher
00071 } //naoqi
00072 
00073 
00074 #endif


naoqi_driver
Author(s): Karsten Knese
autogenerated on Sun Sep 17 2017 02:57:14