00001 #ifndef IMAGE_TRANSPORT_IMAGE_TRANSPORT_H
00002 #define IMAGE_TRANSPORT_IMAGE_TRANSPORT_H
00003
00004 #include "image_transport/publisher.h"
00005 #include "image_transport/subscriber.h"
00006 #include "image_transport/camera_publisher.h"
00007 #include "image_transport/camera_subscriber.h"
00008
00009 namespace image_transport {
00010
00017 class ImageTransport
00018 {
00019 public:
00020 explicit ImageTransport(const ros::NodeHandle& nh);
00021
00022 ~ImageTransport();
00023
00027 Publisher advertise(const std::string& base_topic, uint32_t queue_size, bool latch = false);
00028
00032 Publisher advertise(const std::string& base_topic, uint32_t queue_size,
00033 const SubscriberStatusCallback& connect_cb,
00034 const SubscriberStatusCallback& disconnect_cb = SubscriberStatusCallback(),
00035 const ros::VoidPtr& tracked_object = ros::VoidPtr(), bool latch = false);
00036
00040 Subscriber subscribe(const std::string& base_topic, uint32_t queue_size,
00041 const boost::function<void(const sensor_msgs::ImageConstPtr&)>& callback,
00042 const ros::VoidPtr& tracked_object = ros::VoidPtr(),
00043 const TransportHints& transport_hints = TransportHints());
00044
00048 Subscriber subscribe(const std::string& base_topic, uint32_t queue_size,
00049 void(*fp)(const sensor_msgs::ImageConstPtr&),
00050 const TransportHints& transport_hints = TransportHints())
00051 {
00052 return subscribe(base_topic, queue_size,
00053 boost::function<void(const sensor_msgs::ImageConstPtr&)>(fp),
00054 ros::VoidPtr(), transport_hints);
00055 }
00056
00060 template<class T>
00061 Subscriber subscribe(const std::string& base_topic, uint32_t queue_size,
00062 void(T::*fp)(const sensor_msgs::ImageConstPtr&), T* obj,
00063 const TransportHints& transport_hints = TransportHints())
00064 {
00065 return subscribe(base_topic, queue_size, boost::bind(fp, obj, _1), ros::VoidPtr(), transport_hints);
00066 }
00067
00071 template<class T>
00072 Subscriber subscribe(const std::string& base_topic, uint32_t queue_size,
00073 void(T::*fp)(const sensor_msgs::ImageConstPtr&),
00074 const boost::shared_ptr<T>& obj,
00075 const TransportHints& transport_hints = TransportHints())
00076 {
00077 return subscribe(base_topic, queue_size, boost::bind(fp, obj.get(), _1), obj, transport_hints);
00078 }
00079
00083 CameraPublisher advertiseCamera(const std::string& base_topic, uint32_t queue_size, bool latch = false);
00084
00089 CameraPublisher advertiseCamera(const std::string& base_topic, uint32_t queue_size,
00090 const SubscriberStatusCallback& image_connect_cb,
00091 const SubscriberStatusCallback& image_disconnect_cb = SubscriberStatusCallback(),
00092 const ros::SubscriberStatusCallback& info_connect_cb = ros::SubscriberStatusCallback(),
00093 const ros::SubscriberStatusCallback& info_disconnect_cb = ros::SubscriberStatusCallback(),
00094 const ros::VoidPtr& tracked_object = ros::VoidPtr(), bool latch = false);
00095
00103 CameraSubscriber subscribeCamera(const std::string& base_topic, uint32_t queue_size,
00104 const CameraSubscriber::Callback& callback,
00105 const ros::VoidPtr& tracked_object = ros::VoidPtr(),
00106 const TransportHints& transport_hints = TransportHints());
00107
00111 CameraSubscriber subscribeCamera(const std::string& base_topic, uint32_t queue_size,
00112 void(*fp)(const sensor_msgs::ImageConstPtr&,
00113 const sensor_msgs::CameraInfoConstPtr&),
00114 const TransportHints& transport_hints = TransportHints())
00115 {
00116 return subscribeCamera(base_topic, queue_size, CameraSubscriber::Callback(fp), ros::VoidPtr(),
00117 transport_hints);
00118 }
00119
00124 template<class T>
00125 CameraSubscriber subscribeCamera(const std::string& base_topic, uint32_t queue_size,
00126 void(T::*fp)(const sensor_msgs::ImageConstPtr&,
00127 const sensor_msgs::CameraInfoConstPtr&), T* obj,
00128 const TransportHints& transport_hints = TransportHints())
00129 {
00130 return subscribeCamera(base_topic, queue_size, boost::bind(fp, obj, _1, _2), ros::VoidPtr(),
00131 transport_hints);
00132 }
00133
00138 template<class T>
00139 CameraSubscriber subscribeCamera(const std::string& base_topic, uint32_t queue_size,
00140 void(T::*fp)(const sensor_msgs::ImageConstPtr&,
00141 const sensor_msgs::CameraInfoConstPtr&),
00142 const boost::shared_ptr<T>& obj,
00143 const TransportHints& transport_hints = TransportHints())
00144 {
00145 return subscribeCamera(base_topic, queue_size, boost::bind(fp, obj.get(), _1, _2), obj,
00146 transport_hints);
00147 }
00148
00153 std::vector<std::string> getDeclaredTransports() const;
00154
00155 private:
00156 struct Impl;
00157 typedef boost::shared_ptr<Impl> ImplPtr;
00158 typedef boost::weak_ptr<Impl> ImplWPtr;
00159
00160 ImplPtr impl_;
00161 };
00162
00163 }
00164
00165 #endif