RealCameraSynchronizer.hpp

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#ifndef REALCAMERASYNCHRONIZER_HPP_
#define REALCAMERASYNCHRONIZER_HPP_

#include <string>
#include <vector>
#include <map>
#include <nodelet/nodelet.h>
#include <image_transport/image_transport.h>
#include <sensor_msgs/Image.h>
#include "common_defs.hpp"
#include "RealCamera.hpp"

namespace virtual_camera {


class RealCameraSynchronizer {
private:
        bool synchronize;
        std::map<std::string, RealCameraPtr> camsByFrame;
        std::map<std::string, sensor_msgs::ImageConstPtr> msgsByFrame;
        std::vector<image_transport::Subscriber> realCamImgSubs;
        MutexPtr syncMutex;
        int recentCount;
        int cameraCount;
        ros::Time mostRecentStamp;

        void handleSynchronization(const sensor_msgs::ImageConstPtr & image);
        void pushMessages();
        void generalCallback(const sensor_msgs::ImageConstPtr & image);
public:
        RealCameraSynchronizer(bool synchronize, const MutexPtr & syncMutex);


        void addCamera(const std::string & topic, const RealCameraPtr & camera,
                        const boost::shared_ptr<image_transport::ImageTransport> & it);


        bool isSynchronized();


        void setSynchronization(bool mode);


};

typedef boost::shared_ptr<RealCameraSynchronizer> RealCameraSynchronizerPtr;

}



#endif /* REALCAMERASYNCHRONIZER_HPP_ */