camera_info_publisher.h

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/*
 * Copyright (c) 2019 Roboception GmbH
 * All rights reserved
 *
 * Author: Heiko Hirschmueller
 *
 * 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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 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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 */
 
#ifndef RCGCCAM_CAMERAINFOPUBLISHER_H
#define RCGCCAM_CAMERAINFOPUBLISHER_H
 
#include <ros/ros.h>
#include <sensor_msgs/CameraInfo.h>
#include <sensor_msgs/Image.h>
 
#include <string>
 
namespace rcgccam
{
class CameraInfoPublisher
{
public:
  CameraInfoPublisher();
 
  void init(ros::NodeHandle& nh, const char* calib_file, int id);
 
  bool used();
 
  void publish(const sensor_msgs::ImagePtr& image);
 
private:
  CameraInfoPublisher(const CameraInfoPublisher&);             // forbidden
  CameraInfoPublisher& operator=(const CameraInfoPublisher&);  // forbidden
 
  sensor_msgs::CameraInfo info_;
  ros::Publisher pub_;
};
 
}  // namespace rcgccam
 
#endif