image_transport.h
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34 
35 #ifndef IMAGE_TRANSPORT_IMAGE_TRANSPORT_H
36 #define IMAGE_TRANSPORT_IMAGE_TRANSPORT_H
37 
42 #include "exports.h"
43 
44 namespace image_transport {
45 
53 {
54 public:
55  explicit ImageTransport(const ros::NodeHandle& nh);
56 
57  ~ImageTransport();
58 
62  Publisher advertise(const std::string& base_topic, uint32_t queue_size, bool latch = false);
63 
67  Publisher advertise(const std::string& base_topic, uint32_t queue_size,
68  const SubscriberStatusCallback& connect_cb,
69  const SubscriberStatusCallback& disconnect_cb = SubscriberStatusCallback(),
70  const ros::VoidPtr& tracked_object = ros::VoidPtr(), bool latch = false);
71 
75  Subscriber subscribe(const std::string& base_topic, uint32_t queue_size,
76  const boost::function<void(const sensor_msgs::ImageConstPtr&)>& callback,
77  const ros::VoidPtr& tracked_object = ros::VoidPtr(),
78  const TransportHints& transport_hints = TransportHints());
79 
83  Subscriber subscribe(const std::string& base_topic, uint32_t queue_size,
84  void(*fp)(const sensor_msgs::ImageConstPtr&),
85  const TransportHints& transport_hints = TransportHints())
86  {
87  return subscribe(base_topic, queue_size,
88  boost::function<void(const sensor_msgs::ImageConstPtr&)>(fp),
89  ros::VoidPtr(), transport_hints);
90  }
91 
95  template<class T>
96  Subscriber subscribe(const std::string& base_topic, uint32_t queue_size,
97  void(T::*fp)(const sensor_msgs::ImageConstPtr&), T* obj,
98  const TransportHints& transport_hints = TransportHints())
99  {
100  return subscribe(base_topic, queue_size, boost::bind(fp, obj, _1), ros::VoidPtr(), transport_hints);
101  }
102 
106  template<class T>
107  Subscriber subscribe(const std::string& base_topic, uint32_t queue_size,
108  void(T::*fp)(const sensor_msgs::ImageConstPtr&),
109  const boost::shared_ptr<T>& obj,
110  const TransportHints& transport_hints = TransportHints())
111  {
112  return subscribe(base_topic, queue_size, boost::bind(fp, obj.get(), _1), obj, transport_hints);
113  }
114 
118  CameraPublisher advertiseCamera(const std::string& base_topic, uint32_t queue_size, bool latch = false);
119 
124  CameraPublisher advertiseCamera(const std::string& base_topic, uint32_t queue_size,
125  const SubscriberStatusCallback& image_connect_cb,
126  const SubscriberStatusCallback& image_disconnect_cb = SubscriberStatusCallback(),
128  const ros::SubscriberStatusCallback& info_disconnect_cb = ros::SubscriberStatusCallback(),
129  const ros::VoidPtr& tracked_object = ros::VoidPtr(), bool latch = false);
130 
138  CameraSubscriber subscribeCamera(const std::string& base_topic, uint32_t queue_size,
139  const CameraSubscriber::Callback& callback,
140  const ros::VoidPtr& tracked_object = ros::VoidPtr(),
141  const TransportHints& transport_hints = TransportHints());
142 
146  CameraSubscriber subscribeCamera(const std::string& base_topic, uint32_t queue_size,
147  void(*fp)(const sensor_msgs::ImageConstPtr&,
148  const sensor_msgs::CameraInfoConstPtr&),
149  const TransportHints& transport_hints = TransportHints())
150  {
151  return subscribeCamera(base_topic, queue_size, CameraSubscriber::Callback(fp), ros::VoidPtr(),
152  transport_hints);
153  }
154 
159  template<class T>
160  CameraSubscriber subscribeCamera(const std::string& base_topic, uint32_t queue_size,
161  void(T::*fp)(const sensor_msgs::ImageConstPtr&,
162  const sensor_msgs::CameraInfoConstPtr&), T* obj,
163  const TransportHints& transport_hints = TransportHints())
164  {
165  return subscribeCamera(base_topic, queue_size, boost::bind(fp, obj, _1, _2), ros::VoidPtr(),
166  transport_hints);
167  }
168 
173  template<class T>
174  CameraSubscriber subscribeCamera(const std::string& base_topic, uint32_t queue_size,
175  void(T::*fp)(const sensor_msgs::ImageConstPtr&,
176  const sensor_msgs::CameraInfoConstPtr&),
177  const boost::shared_ptr<T>& obj,
178  const TransportHints& transport_hints = TransportHints())
179  {
180  return subscribeCamera(base_topic, queue_size, boost::bind(fp, obj.get(), _1, _2), obj,
181  transport_hints);
182  }
183 
188  std::vector<std::string> getDeclaredTransports() const;
189 
193  std::vector<std::string> getLoadableTransports() const;
194 
195 private:
196  struct Impl;
198  typedef boost::weak_ptr<Impl> ImplWPtr;
199 
200  ImplPtr impl_;
201 };
202 
203 } //namespace image_transport
204 
205 #endif
Manages advertisements of multiple transport options on an Image topic.
Definition: publisher.h:64
boost::function< void(const SingleSubscriberPublisher &)> SubscriberStatusCallback
CameraSubscriber subscribeCamera(const std::string &base_topic, uint32_t queue_size, void(T::*fp)(const sensor_msgs::ImageConstPtr &, const sensor_msgs::CameraInfoConstPtr &), T *obj, const TransportHints &transport_hints=TransportHints())
Subscribe to a synchronized image & camera info topic pair, version for class member function with ba...
Manages advertisements for publishing camera images.
boost::function< void(const SingleSubscriberPublisher &)> SubscriberStatusCallback
Subscriber subscribe(const std::string &base_topic, uint32_t queue_size, void(T::*fp)(const sensor_msgs::ImageConstPtr &), T *obj, const TransportHints &transport_hints=TransportHints())
Subscribe to an image topic, version for class member function with bare pointer. ...
Manages a subscription callback on a specific topic that can be interpreted as an Image topic...
Definition: subscriber.h:62
Manages a subscription callback on synchronized Image and CameraInfo topics.
boost::shared_ptr< Impl > ImplPtr
boost::weak_ptr< Impl > ImplWPtr
Subscriber subscribe(const std::string &base_topic, uint32_t queue_size, void(*fp)(const sensor_msgs::ImageConstPtr &), const TransportHints &transport_hints=TransportHints())
Subscribe to an image topic, version for bare function.
CameraSubscriber subscribeCamera(const std::string &base_topic, uint32_t queue_size, void(T::*fp)(const sensor_msgs::ImageConstPtr &, const sensor_msgs::CameraInfoConstPtr &), const boost::shared_ptr< T > &obj, const TransportHints &transport_hints=TransportHints())
Subscribe to a synchronized image & camera info topic pair, version for class member function with sh...
CameraSubscriber subscribeCamera(const std::string &base_topic, uint32_t queue_size, void(*fp)(const sensor_msgs::ImageConstPtr &, const sensor_msgs::CameraInfoConstPtr &), const TransportHints &transport_hints=TransportHints())
Subscribe to a synchronized image & camera info topic pair, version for bare function.
#define IMAGE_TRANSPORT_DECL
Definition: exports.h:15
boost::function< void(const sensor_msgs::ImageConstPtr &, const sensor_msgs::CameraInfoConstPtr &)> Callback
Stores transport settings for an image topic subscription.
Advertise and subscribe to image topics.
Subscriber subscribe(const std::string &base_topic, uint32_t queue_size, void(T::*fp)(const sensor_msgs::ImageConstPtr &), const boost::shared_ptr< T > &obj, const TransportHints &transport_hints=TransportHints())
Subscribe to an image topic, version for class member function with shared_ptr.


image_transport
Author(s): Patrick Mihelich
autogenerated on Mon Apr 6 2020 03:31:37