Advertise and subscribe to image topics. More...

#include <image_transport.h>

Classes
struct	Impl

Public Member Functions
Publisher	advertise (const std::string &base_topic, uint32_t queue_size, bool latch=false)
	Advertise an image topic, simple version. More...

Publisher	advertise (const std::string &base_topic, uint32_t queue_size, const SubscriberStatusCallback &connect_cb, const SubscriberStatusCallback &disconnect_cb=SubscriberStatusCallback(), const ros::VoidPtr &tracked_object=ros::VoidPtr(), bool latch=false)
	Advertise an image topic with subcriber status callbacks. More...

CameraPublisher	advertiseCamera (const std::string &base_topic, uint32_t queue_size, bool latch=false)
	Advertise a synchronized camera raw image + info topic pair, simple version. More...

CameraPublisher	advertiseCamera (const std::string &base_topic, uint32_t queue_size, const SubscriberStatusCallback &image_connect_cb, const SubscriberStatusCallback &image_disconnect_cb=SubscriberStatusCallback(), const ros::SubscriberStatusCallback &info_connect_cb=ros::SubscriberStatusCallback(), const ros::SubscriberStatusCallback &info_disconnect_cb=ros::SubscriberStatusCallback(), const ros::VoidPtr &tracked_object=ros::VoidPtr(), bool latch=false)
	Advertise a synchronized camera raw image + info topic pair with subscriber status callbacks. More...

std::vector< std::string >	getDeclaredTransports () const
	Returns the names of all transports declared in the system. Declared transports are not necessarily built or loadable. More...

std::vector< std::string >	getLoadableTransports () const
	Returns the names of all transports that are loadable in the system. More...

	ImageTransport (const ros::NodeHandle &nh)

Subscriber	subscribe (const std::string &base_topic, uint32_t queue_size, const boost::function< void(const sensor_msgs::ImageConstPtr &)> &callback, const ros::VoidPtr &tracked_object=ros::VoidPtr(), const TransportHints &transport_hints=TransportHints())
	Subscribe to an image topic, version for arbitrary boost::function object. More...

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. More...

template<class T >
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. More...

template<class T >
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. More...

CameraSubscriber	subscribeCamera (const std::string &base_topic, uint32_t queue_size, const CameraSubscriber::Callback &callback, const ros::VoidPtr &tracked_object=ros::VoidPtr(), const TransportHints &transport_hints=TransportHints())
	Subscribe to a synchronized image & camera info topic pair, version for arbitrary boost::function object. More...

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. More...

template<class T >
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 shared_ptr. More...

template<class T >
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 bare pointer. More...

	~ImageTransport ()

Private Types
typedef boost::shared_ptr< Impl >	ImplPtr

typedef boost::weak_ptr< Impl >	ImplWPtr

Private Attributes
ImplPtr	impl_

Detailed Description

Advertise and subscribe to image topics.

ImageTransport is analogous to ros::NodeHandle in that it contains advertise() and subscribe() functions for creating advertisements and subscriptions of image topics.

Definition at line 84 of file image_transport.h.

Member Typedef Documentation

◆ ImplPtr

typedef boost::shared_ptr<Impl> image_transport::ImageTransport::ImplPtr

private

Definition at line 260 of file image_transport.h.

◆ ImplWPtr

typedef boost::weak_ptr<Impl> image_transport::ImageTransport::ImplWPtr

private

Definition at line 262 of file image_transport.h.

Constructor & Destructor Documentation

◆ ImageTransport()

image_transport::ImageTransport::ImageTransport ( const ros::NodeHandle & nh )

explicit

Definition at line 91 of file image_transport.cpp.

◆ ~ImageTransport()

image_transport::ImageTransport::~ImageTransport ( )

Definition at line 96 of file image_transport.cpp.

Member Function Documentation

◆ advertise() [1/2]

Publisher image_transport::ImageTransport::advertise	(	const std::string &	base_topic,
		uint32_t	queue_size,
		bool	latch = `false`
	)

Advertise an image topic, simple version.

Definition at line 100 of file image_transport.cpp.

◆ advertise() [2/2]

Publisher image_transport::ImageTransport::advertise	(	const std::string &	base_topic,
		uint32_t	queue_size,
		const SubscriberStatusCallback &	connect_cb,
		const SubscriberStatusCallback &	disconnect_cb = `SubscriberStatusCallback()`,
		const ros::VoidPtr &	tracked_object = `ros::VoidPtr()`,
		bool	latch = `false`
	)

Advertise an image topic with subcriber status callbacks.

Definition at line 106 of file image_transport.cpp.

◆ advertiseCamera() [1/2]

CameraPublisher image_transport::ImageTransport::advertiseCamera	(	const std::string &	base_topic,
		uint32_t	queue_size,
		bool	latch = `false`
	)

Advertise a synchronized camera raw image + info topic pair, simple version.

Definition at line 121 of file image_transport.cpp.

◆ advertiseCamera() [2/2]

CameraPublisher image_transport::ImageTransport::advertiseCamera	(	const std::string &	base_topic,
		uint32_t	queue_size,
		const SubscriberStatusCallback &	image_connect_cb,
		const SubscriberStatusCallback &	image_disconnect_cb = `SubscriberStatusCallback()`,
		const ros::SubscriberStatusCallback &	info_connect_cb = `ros::SubscriberStatusCallback()`,
		const ros::SubscriberStatusCallback &	info_disconnect_cb = `ros::SubscriberStatusCallback()`,
		const ros::VoidPtr &	tracked_object = `ros::VoidPtr()`,
		bool	latch = `false`
	)

Advertise a synchronized camera raw image + info topic pair with subscriber status callbacks.

Definition at line 129 of file image_transport.cpp.

◆ getDeclaredTransports()

std::vector< std::string > image_transport::ImageTransport::getDeclaredTransports ( ) const

Returns the names of all transports declared in the system. Declared transports are not necessarily built or loadable.

Definition at line 148 of file image_transport.cpp.

◆ getLoadableTransports()

std::vector< std::string > image_transport::ImageTransport::getLoadableTransports ( ) const

Returns the names of all transports that are loadable in the system.

Definition at line 158 of file image_transport.cpp.

◆ subscribe() [1/4]

Subscriber image_transport::ImageTransport::subscribe	(	const std::string &	base_topic,
		uint32_t	queue_size,
		const boost::function< void(const sensor_msgs::ImageConstPtr &)> &	callback,
		const ros::VoidPtr &	tracked_object = `ros::VoidPtr()`,
		const TransportHints &	transport_hints = `TransportHints()`
	)

Subscribe to an image topic, version for arbitrary boost::function object.

Definition at line 114 of file image_transport.cpp.

◆ subscribe() [2/4]

Subscriber image_transport::ImageTransport::subscribe	(	const std::string &	base_topic,
		uint32_t	queue_size,
		void(*)(const sensor_msgs::ImageConstPtr &)	fp,
		const TransportHints &	transport_hints = `TransportHints()`
	)

inline

Subscribe to an image topic, version for bare function.

Definition at line 147 of file image_transport.h.

◆ subscribe() [3/4]

template<class T >

Subscriber image_transport::ImageTransport::subscribe	(	const std::string &	base_topic,
		uint32_t	queue_size,
		void(T::*)(const sensor_msgs::ImageConstPtr &)	fp,
		const boost::shared_ptr< T > &	obj,
		const TransportHints &	transport_hints = `TransportHints()`
	)

inline

Subscribe to an image topic, version for class member function with shared_ptr.

Definition at line 171 of file image_transport.h.

◆ subscribe() [4/4]

template<class T >

Subscriber image_transport::ImageTransport::subscribe	(	const std::string &	base_topic,
		uint32_t	queue_size,
		void(T::*)(const sensor_msgs::ImageConstPtr &)	fp,
		T *	obj,
		const TransportHints &	transport_hints = `TransportHints()`
	)

inline

Subscribe to an image topic, version for class member function with bare pointer.

Definition at line 160 of file image_transport.h.

◆ subscribeCamera() [1/4]

CameraSubscriber image_transport::ImageTransport::subscribeCamera	(	const std::string &	base_topic,
		uint32_t	queue_size,
		const CameraSubscriber::Callback &	callback,
		const ros::VoidPtr &	tracked_object = `ros::VoidPtr()`,
		const TransportHints &	transport_hints = `TransportHints()`
	)

Subscribe to a synchronized image & camera info topic pair, version for arbitrary boost::function object.

This version assumes the standard topic naming scheme, where the info topic is named "camera_info" in the same namespace as the base image topic.

Definition at line 140 of file image_transport.cpp.

◆ subscribeCamera() [2/4]

CameraSubscriber image_transport::ImageTransport::subscribeCamera	(	const std::string &	base_topic,
		uint32_t	queue_size,
		void(*)(const sensor_msgs::ImageConstPtr &, const sensor_msgs::CameraInfoConstPtr &)	fp,
		const TransportHints &	transport_hints = `TransportHints()`
	)

inline

Subscribe to a synchronized image & camera info topic pair, version for bare function.

Definition at line 210 of file image_transport.h.

◆ subscribeCamera() [3/4]

template<class T >

CameraSubscriber image_transport::ImageTransport::subscribeCamera	(	const std::string &	base_topic,
		uint32_t	queue_size,
		void(T::*)(const sensor_msgs::ImageConstPtr &, const sensor_msgs::CameraInfoConstPtr &)	fp,
		const boost::shared_ptr< T > &	obj,
		const TransportHints &	transport_hints = `TransportHints()`
	)

inline

Subscribe to a synchronized image & camera info topic pair, version for class member function with shared_ptr.

Definition at line 238 of file image_transport.h.

◆ subscribeCamera() [4/4]

template<class T >

CameraSubscriber image_transport::ImageTransport::subscribeCamera	(	const std::string &	base_topic,
		uint32_t	queue_size,
		void(T::*)(const sensor_msgs::ImageConstPtr &, const sensor_msgs::CameraInfoConstPtr &)	fp,
		T *	obj,
		const TransportHints &	transport_hints = `TransportHints()`
	)

inline

Subscribe to a synchronized image & camera info topic pair, version for class member function with bare pointer.

Definition at line 224 of file image_transport.h.

Member Data Documentation

◆ impl_

ImplPtr image_transport::ImageTransport::impl_

private

Definition at line 264 of file image_transport.h.

The documentation for this class was generated from the following files:

Classes

Public Member Functions

Private Types

Private Attributes

Detailed Description

Member Typedef Documentation

◆ ImplPtr

◆ ImplWPtr

Constructor & Destructor Documentation

◆ ImageTransport()

◆ ~ImageTransport()

Member Function Documentation

◆ advertise() [1/2]

◆ advertise() [2/2]

◆ advertiseCamera() [1/2]

◆ advertiseCamera() [2/2]

◆ getDeclaredTransports()

◆ getLoadableTransports()

◆ subscribe() [1/4]

◆ subscribe() [2/4]

◆ subscribe() [3/4]

◆ subscribe() [4/4]

◆ subscribeCamera() [1/4]

◆ subscribeCamera() [2/4]

◆ subscribeCamera() [3/4]

◆ subscribeCamera() [4/4]

Member Data Documentation

◆ impl_