client_ros_base.h

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#ifndef RGBD_CLIENT_ROS_BASE_H_
#define RGBD_CLIENT_ROS_BASE_H_
 
#include <ros/node_handle.h>
#include <ros/callback_queue.h>
#include "ros/callback_queue_interface.h"
 
#include <message_filters/synchronizer.h>
#include <message_filters/subscriber.h>
#include <message_filters/sync_policies/approximate_time.h>
#include <image_geometry/pinhole_camera_model.h>
 
#include <sensor_msgs/Image.h>
#include <sensor_msgs/CameraInfo.h>
 
#include "rgbd/types.h"
 
#include <memory>
 
 
namespace rgbd {
 
typedef message_filters::sync_policies::ApproximateTime<sensor_msgs::Image, sensor_msgs::Image> RGBDApproxPolicy;
 
class ClientROSBase {
 
public:
 
    ClientROSBase(ros::NodeHandle nh);
 
    virtual ~ClientROSBase();
 
    bool initialize(const std::string& rgb_image_topic, const std::string& depth_image_topic, const std::string& cam_info_topic);
 
    bool deinitialize();
 
    bool initialized() { return bool(sync_); }
 
protected:
 
    ros::NodeHandle nh_;
 
    std::unique_ptr<message_filters::Synchronizer<RGBDApproxPolicy> > sync_;
    std::unique_ptr<message_filters::Subscriber<sensor_msgs::Image> > sub_rgb_sync_;
    std::unique_ptr<message_filters::Subscriber<sensor_msgs::Image> > sub_depth_sync_;
    ros::Subscriber sub_cam_info_;
    image_geometry::PinholeCameraModel cam_model_;
 
    bool new_image_;
    Image* image_ptr_;
 
    void camInfoCallback(const sensor_msgs::CameraInfoConstPtr& cam_info_msg);
 
    bool imageCallback(const sensor_msgs::ImageConstPtr& rgb_image_msg, const sensor_msgs::ImageConstPtr& depth_image_msg);
 
};
 
}
 
#endif // RGBD_CLIENT_ROS_BASE_H_