Program Listing for File resize.hpp
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// Copyright 2008, 2019 Willow Garage, Inc., Andreas Klintberg, Joshua Whitley
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#ifndef IMAGE_PROC__RESIZE_HPP_
#define IMAGE_PROC__RESIZE_HPP_
#include <mutex>
#include <string>
#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 ResizeNode
: public rclcpp::Node
{
public:
explicit ResizeNode(const rclcpp::NodeOptions &);
protected:
image_transport::CameraPublisher pub_image_;
image_transport::CameraSubscriber sub_image_;
int interpolation_;
bool use_scale_;
double scale_height_;
double scale_width_;
int height_;
int width_;
std::string image_topic_;
cv_bridge::CvImage scaled_cv_;
std::mutex connect_mutex_;
void connectCb();
void imageCb(
sensor_msgs::msg::Image::ConstSharedPtr image_msg,
sensor_msgs::msg::CameraInfo::ConstSharedPtr info_msg);
};
} // namespace image_proc
#endif // IMAGE_PROC__RESIZE_HPP_