client_ros.cpp

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#include "rgbd/client_ros.h"
#include "rgbd/image.h"
 
// ROS message serialization
#include <cv_bridge/cv_bridge.h>
#include <message_filters/synchronizer.h>
#include <message_filters/subscriber.h>
#include <message_filters/sync_policies/approximate_time.h>
#include <sensor_msgs/Image.h>
#include <sensor_msgs/image_encodings.h>
#include <image_geometry/pinhole_camera_model.h>
 
namespace rgbd {
 
// ----------------------------------------------------------------------------------------
 
ClientROS::ClientROS() : ClientROSBase(ros::NodeHandle())
{
}
 
// ----------------------------------------------------------------------------------------
 
ClientROS::~ClientROS()
{
}
 
// ----------------------------------------------------------------------------------------
 
bool ClientROS::initialize(const std::string& rgb_image_topic, const std::string& depth_image_topic, const std::string& cam_info_topic)
{
    nh_.setCallbackQueue(&cb_queue_);
 
    if (!ClientROSBase::initialize(rgb_image_topic, depth_image_topic, cam_info_topic))
        return false;
 
    sync_->registerCallback(boost::bind(&ClientROS::imageCallback, this, _1, _2));
 
    return true;
}
 
// ----------------------------------------------------------------------------------------
 
bool ClientROS::nextImage(Image& image)
{
    new_image_ = false;
    image_ptr_ = &image;
    cb_queue_.callAvailable();
    return new_image_;
}
 
// ----------------------------------------------------------------------------------------
 
ImagePtr ClientROS::nextImage()
{
    new_image_ = false;
    image_ptr_ = nullptr;
    cb_queue_.callAvailable();
    if (!new_image_)
    {
        delete image_ptr_; // Needs to be deleted, because caller doesn't get a shared ptr to this raw pointer.
        return nullptr;
    }
    return ImagePtr(image_ptr_);
}
 
}