.. _program_listing_file__tmp_ws_src_image_common_image_transport_include_image_transport_subscriber_filter.hpp:

Program Listing for File subscriber_filter.hpp
==============================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_image_common_image_transport_include_image_transport_subscriber_filter.hpp>` (``/tmp/ws/src/image_common/image_transport/include/image_transport/subscriber_filter.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__SUBSCRIBER_FILTER_HPP_
   #define IMAGE_TRANSPORT__SUBSCRIBER_FILTER_HPP_
   
   #include <memory>
   #include <string>
   
   #include "rclcpp/rclcpp.hpp"
   #include "sensor_msgs/msg/image.hpp"
   #include "message_filters/simple_filter.h"
   
   #include "image_transport/image_transport.hpp"
   #include "image_transport/visibility_control.hpp"
   
   namespace image_transport
   {
   
   class SubscriberFilter : public message_filters::SimpleFilter<sensor_msgs::msg::Image>
   {
   public:
     IMAGE_TRANSPORT_PUBLIC
     SubscriberFilter(
       rclcpp::Node * node, const std::string & base_topic,
       const std::string & transport)
     {
       subscribe(node, base_topic, transport);
     }
   
     IMAGE_TRANSPORT_PUBLIC
     SubscriberFilter()
     {
     }
   
     IMAGE_TRANSPORT_PUBLIC
     ~SubscriberFilter()
     {
       unsubscribe();
     }
   
     IMAGE_TRANSPORT_PUBLIC
     void subscribe(
       rclcpp::Node * node,
       const std::string & base_topic,
       const std::string & transport,
       rmw_qos_profile_t custom_qos = rmw_qos_profile_default,
       rclcpp::SubscriptionOptions options = rclcpp::SubscriptionOptions())
     {
       unsubscribe();
       sub_ = image_transport::create_subscription(
         node, base_topic,
         std::bind(&SubscriberFilter::cb, this, std::placeholders::_1), transport, custom_qos,
         options);
     }
   
     IMAGE_TRANSPORT_PUBLIC
     void unsubscribe()
     {
       sub_.shutdown();
     }
   
     IMAGE_TRANSPORT_PUBLIC
     std::string getTopic() const
     {
       return sub_.getTopic();
     }
   
     IMAGE_TRANSPORT_PUBLIC
     size_t getNumPublishers() const
     {
       return sub_.getNumPublishers();
     }
   
     IMAGE_TRANSPORT_PUBLIC
     std::string getTransport() const
     {
       return sub_.getTransport();
     }
   
     IMAGE_TRANSPORT_PUBLIC
     const Subscriber & getSubscriber() const
     {
       return sub_;
     }
   
   private:
     void cb(const sensor_msgs::msg::Image::ConstSharedPtr & m)
     {
       signalMessage(m);
     }
   
     Subscriber sub_;
   };
   
   }  // namespace image_transport
   
   #endif  // IMAGE_TRANSPORT__SUBSCRIBER_FILTER_HPP_