/usr/include/image_transport/camera_subscriber.h is in libimage-transport-dev 1.11.10-5.
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#ifndef IMAGE_TRANSPORT_CAMERA_SUBSCRIBER_H
#define IMAGE_TRANSPORT_CAMERA_SUBSCRIBER_H
#include <ros/ros.h>
#include <sensor_msgs/CameraInfo.h>
#include <sensor_msgs/Image.h>
#include "image_transport/transport_hints.h"
namespace image_transport {
class ImageTransport;
/**
* \brief Manages a subscription callback on synchronized Image and CameraInfo topics.
*
* CameraSubscriber is the client-side counterpart to CameraPublisher, and assumes the
* same topic naming convention. The callback is of type:
\verbatim
void callback(const sensor_msgs::ImageConstPtr&, const sensor_msgs::CameraInfoConstPtr&);
\endverbatim
*
* A CameraSubscriber should always be created through a call to
* ImageTransport::subscribeCamera(), or copied from one that was.
* Once all copies of a specific CameraSubscriber go out of scope, the subscription callback
* associated with that handle will stop being called. Once all CameraSubscriber for a given
* topic go out of scope the topic will be unsubscribed.
*/
class CameraSubscriber
{
public:
typedef boost::function<void(const sensor_msgs::ImageConstPtr&,
const sensor_msgs::CameraInfoConstPtr&)> Callback;
CameraSubscriber() {}
/**
* \brief Get the base topic (on which the raw image is published).
*/
std::string getTopic() const;
/**
* \brief Get the camera info topic.
*/
std::string getInfoTopic() const;
/**
* \brief Returns the number of publishers this subscriber is connected to.
*/
uint32_t getNumPublishers() const;
/**
* \brief Returns the name of the transport being used.
*/
std::string getTransport() const;
/**
* \brief Unsubscribe the callback associated with this CameraSubscriber.
*/
void shutdown();
operator void*() const;
bool operator< (const CameraSubscriber& rhs) const { return impl_ < rhs.impl_; }
bool operator!=(const CameraSubscriber& rhs) const { return impl_ != rhs.impl_; }
bool operator==(const CameraSubscriber& rhs) const { return impl_ == rhs.impl_; }
private:
CameraSubscriber(ImageTransport& image_it, ros::NodeHandle& info_nh,
const std::string& base_topic, uint32_t queue_size,
const Callback& callback,
const ros::VoidPtr& tracked_object = ros::VoidPtr(),
const TransportHints& transport_hints = TransportHints());
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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