.. _program_listing_file__tmp_ws_src_image_common_image_transport_include_image_transport_camera_subscriber.hpp:

Program Listing for File camera_subscriber.hpp
==============================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_image_common_image_transport_include_image_transport_camera_subscriber.hpp>` (``/tmp/ws/src/image_common/image_transport/include/image_transport/camera_subscriber.hpp``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   // Copyright (c) 2009, Willow Garage, Inc.
   //
   // Redistribution and use in source and binary forms, with or without
   // modification, are permitted provided that the following conditions are met:
   //
   //    * Redistributions of source code must retain the above copyright
   //      notice, this list of conditions and the following disclaimer.
   //
   //    * Redistributions in binary form must reproduce the above copyright
   //      notice, this list of conditions and the following disclaimer in the
   //      documentation and/or other materials provided with the distribution.
   //
   //    * Neither the name of the Willow Garage nor the names of its
   //      contributors may be used to endorse or promote products derived from
   //      this software without specific prior written permission.
   //
   // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
   // AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
   // IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
   // ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
   // LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
   // CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
   // SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
   // INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
   // CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
   // ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
   // POSSIBILITY OF SUCH DAMAGE.
   
   #ifndef IMAGE_TRANSPORT__CAMERA_SUBSCRIBER_HPP_
   #define IMAGE_TRANSPORT__CAMERA_SUBSCRIBER_HPP_
   
   #include <functional>
   #include <memory>
   #include <string>
   
   #include "rclcpp/node.hpp"
   
   #include "sensor_msgs/msg/camera_info.hpp"
   #include "sensor_msgs/msg/image.hpp"
   
   #include "image_transport/visibility_control.hpp"
   
   namespace image_transport
   {
   
   class ImageTransport;
   
   class CameraSubscriber
   {
   public:
     typedef std::function<void (const sensor_msgs::msg::Image::ConstSharedPtr &,
         const sensor_msgs::msg::CameraInfo::ConstSharedPtr &)> Callback;
   
     IMAGE_TRANSPORT_PUBLIC
     CameraSubscriber() = default;
   
     IMAGE_TRANSPORT_PUBLIC
     CameraSubscriber(
       rclcpp::Node * node,
       const std::string & base_topic,
       const Callback & callback,
       const std::string & transport,
       rmw_qos_profile_t = rmw_qos_profile_default);
   
     IMAGE_TRANSPORT_PUBLIC
     std::string getTopic() const;
   
     IMAGE_TRANSPORT_PUBLIC
     std::string getInfoTopic() const;
   
     IMAGE_TRANSPORT_PUBLIC
     size_t getNumPublishers() const;
   
     IMAGE_TRANSPORT_PUBLIC
     std::string getTransport() const;
   
     IMAGE_TRANSPORT_PUBLIC
     void shutdown();
   
     IMAGE_TRANSPORT_PUBLIC
     operator void *() const;
   
     IMAGE_TRANSPORT_PUBLIC
     bool operator<(const CameraSubscriber & rhs) const {return impl_ < rhs.impl_;}
   
     IMAGE_TRANSPORT_PUBLIC
     bool operator!=(const CameraSubscriber & rhs) const {return impl_ != rhs.impl_;}
   
     IMAGE_TRANSPORT_PUBLIC
     bool operator==(const CameraSubscriber & rhs) const {return impl_ == rhs.impl_;}
   
   private:
     struct Impl;
     std::shared_ptr<Impl> impl_;
   };
   
   }  // namespace image_transport
   
   #endif  // IMAGE_TRANSPORT__CAMERA_SUBSCRIBER_HPP_