image_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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#ifndef RCGCCAM_IMAGEPUBLISHER_H
#define RCGCCAM_IMAGEPUBLISHER_H
 
#include <ros/ros.h>
#include <image_transport/image_transport.h>
#include <sensor_msgs/Image.h>
 
#include <rc_genicam_api/buffer.h>
 
#include <string>
 
namespace rcgccam
{
class ImagePublisher
{
public:
  ImagePublisher();
 
  void init(image_transport::ImageTransport& id);
 
  bool used();
 
  void publish(const sensor_msgs::ImagePtr& image);
 
private:
  ImagePublisher(const ImagePublisher&);             // forbidden
  ImagePublisher& operator=(const ImagePublisher&);  // forbidden
 
  image_transport::Publisher pub_;
};
 
std::string rosPixelformat(int& bytes_per_pixel, uint64_t pixelformat);
 
sensor_msgs::ImagePtr rosImageFromBuffer(const std::string& frame_id, const rcg::Buffer* buffer,
  uint32_t part, bool rotate);
 
}  // namespace rcgccam
 
#endif