Program Listing for File rectify.hpp

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// Copyright 2008, 2019 Willow Garage, Inc., Andreas Klintberg, Joshua Whitley
// All rights reserved.
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are met:
//
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//      notice, this list of conditions and the following disclaimer.
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//    * Redistributions in binary form must reproduce the above copyright
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#ifndef IMAGE_PROC__RECTIFY_HPP_
#define IMAGE_PROC__RECTIFY_HPP_

#include <mutex>
#include <string>

#include "image_geometry/pinhole_camera_model.hpp"

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

namespace image_proc
{

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

private:
  image_transport::CameraSubscriber sub_camera_;

  int queue_size_;
  int interpolation_;
  std::string image_topic_;
  image_transport::Publisher pub_rect_;

  // Processing state (note: only safe because we're using single-threaded NodeHandle!)
  image_geometry::PinholeCameraModel model_;

  void imageCb(
    const sensor_msgs::msg::Image::ConstSharedPtr & image_msg,
    const sensor_msgs::msg::CameraInfo::ConstSharedPtr & info_msg);
};

}  // namespace image_proc

#endif  // IMAGE_PROC__RECTIFY_HPP_