camera_info_republisher.cpp

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#include <ros/ros.h>
#include <tf/transform_broadcaster.h>
#include <geometry_msgs/TransformStamped.h>
#include <image_transport/image_transport.h>
#include <cv_bridge/cv_bridge.h>
#include <sensor_msgs/image_encodings.h>
#include <opencv2/imgproc/imgproc.hpp>
#include <opencv2/highgui/highgui.hpp>
#include <sensor_msgs/image_encodings.h>
#include <driver_base/driver.h>
#include <camera_info_manager/camera_info_manager.h>
#include <tf/transform_broadcaster.h>

using namespace std;

class CameraInfoRepublisher
{
    public:
        
        CameraInfoRepublisher(ros::NodeHandle& nh_):
        nh(nh_),
        it(nh_)
        {
            ros::NodeHandle private_node("~");
            
            string camera_calibration_file;
            private_node.param("camera_calibration_file",camera_calibration_file,string("image calibration file not set"));
            
            string camera_name;
            private_node.param("camera_name",camera_name,string(""));
            
            info_manager = new camera_info_manager::CameraInfoManager(ros::NodeHandle(nh, camera_name),camera_name,camera_calibration_file);
            
            subscriber = it.subscribe("image_raw", 1, &CameraInfoRepublisher::imageHandler,this);
            
            publisher = it.advertiseCamera("new_info/image_raw", 1);
        }
  
        void imageHandler(const sensor_msgs::ImageConstPtr& msg)
        {
            image = *msg;
            info = info_manager->getCameraInfo();
            publisher.publish(image, info, image.header.stamp);
        }

        ros::NodeHandle nh;
        image_transport::ImageTransport it;
        
        sensor_msgs::Image image;
        
        sensor_msgs::CameraInfo info;
        
        image_transport::Subscriber subscriber;
        
        camera_info_manager::CameraInfoManager* info_manager;
        
        image_transport::CameraPublisher publisher; 
};

int main(int argc, char** argv)
{
    ros::init(argc, argv, "camera_info_republisher");
    ros::NodeHandle node;

    CameraInfoRepublisher info_publisher(node);
    
    ros::spin();
 
    return 0;
}