/usr/include/image_transport/camera_publisher.h is in libimage-transport-dev 1.11.10-5.
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#ifndef IMAGE_TRANSPORT_CAMERA_PUBLISHER_H
#define IMAGE_TRANSPORT_CAMERA_PUBLISHER_H
#include <ros/ros.h>
#include <sensor_msgs/Image.h>
#include <sensor_msgs/CameraInfo.h>
#include "image_transport/single_subscriber_publisher.h"
namespace image_transport {
class ImageTransport;
/**
* \brief Manages advertisements for publishing camera images.
*
* CameraPublisher is a convenience class for publishing synchronized image and
* camera info topics using the standard topic naming convention, where the info
* topic name is "camera_info" in the same namespace as the base image topic.
*
* On the client side, CameraSubscriber simplifies subscribing to camera images.
*
* A CameraPublisher should always be created through a call to
* ImageTransport::advertiseCamera(), or copied from one that was.
* Once all copies of a specific CameraPublisher go out of scope, any subscriber callbacks
* associated with that handle will stop being called. Once all CameraPublisher for a
* given base topic go out of scope the topic (and all subtopics) will be unadvertised.
*/
class CameraPublisher
{
public:
CameraPublisher() {}
/*!
* \brief Returns the number of subscribers that are currently connected to
* this CameraPublisher.
*
* Returns max(image topic subscribers, info topic subscribers).
*/
uint32_t getNumSubscribers() const;
/*!
* \brief Returns the base (image) topic of this CameraPublisher.
*/
std::string getTopic() const;
/**
* \brief Returns the camera info topic of this CameraPublisher.
*/
std::string getInfoTopic() const;
/*!
* \brief Publish an (image, info) pair on the topics associated with this CameraPublisher.
*/
void publish(const sensor_msgs::Image& image, const sensor_msgs::CameraInfo& info) const;
/*!
* \brief Publish an (image, info) pair on the topics associated with this CameraPublisher.
*/
void publish(const sensor_msgs::ImageConstPtr& image,
const sensor_msgs::CameraInfoConstPtr& info) const;
/*!
* \brief Publish an (image, info) pair with given timestamp on the topics associated with
* this CameraPublisher.
*
* Convenience version, which sets the timestamps of both image and info to stamp before
* publishing.
*/
void publish(sensor_msgs::Image& image, sensor_msgs::CameraInfo& info, ros::Time stamp) const;
/*!
* \brief Shutdown the advertisements associated with this Publisher.
*/
void shutdown();
operator void*() const;
bool operator< (const CameraPublisher& rhs) const { return impl_ < rhs.impl_; }
bool operator!=(const CameraPublisher& rhs) const { return impl_ != rhs.impl_; }
bool operator==(const CameraPublisher& rhs) const { return impl_ == rhs.impl_; }
private:
CameraPublisher(ImageTransport& image_it, ros::NodeHandle& info_nh,
const std::string& base_topic, uint32_t queue_size,
const SubscriberStatusCallback& image_connect_cb,
const SubscriberStatusCallback& image_disconnect_cb,
const ros::SubscriberStatusCallback& info_connect_cb,
const ros::SubscriberStatusCallback& info_disconnect_cb,
const ros::VoidPtr& tracked_object, bool latch);
struct Impl;
typedef boost::shared_ptr<Impl> ImplPtr;
typedef boost::weak_ptr<Impl> ImplWPtr;
ImplPtr impl_;
friend class ImageTransport;
};
} //namespace image_transport
#endif
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