camerainfolist.h

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/*
 * This file is part of the rc_genicam_camera package.
 *
 * 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
 * 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.
 */
 
#ifndef RC_GENICAM_CAMERA_CAMERAINFOLIST
#define RC_GENICAM_CAMERA_CAMERAINFOLIST
 
#include <ros/ros.h>
#include <sensor_msgs/CameraInfo.h>
 
namespace rcgccam
{
class CameraInfoList
{
public:
  CameraInfoList();
 
  void setSize(size_t maxsize);
 
  void setTolerance(uint64_t tolerance);
 
  sensor_msgs::CameraInfoPtr add(const sensor_msgs::CameraInfoPtr& info);
 
  int removeOld(const ros::Time& timestamp);
 
  sensor_msgs::CameraInfoPtr find(const ros::Time& timestamp) const;
 
private:
  size_t maxsize_;
  uint64_t tolerance_;
  std::vector<sensor_msgs::CameraInfoPtr> list_;
};
 
}  // namespace rcgccam
 
#endif