.. _program_listing_file__tmp_ws_src_demos_intra_process_demo_include_image_pipeline_watermark_node.hpp:

Program Listing for File watermark_node.hpp
===========================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_demos_intra_process_demo_include_image_pipeline_watermark_node.hpp>` (``/tmp/ws/src/demos/intra_process_demo/include/image_pipeline/watermark_node.hpp``)

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

.. code-block:: cpp

   // Copyright 2015 Open Source Robotics Foundation, Inc.
   //
   // Licensed under the Apache License, Version 2.0 (the "License");
   // you may not use this file except in compliance with the License.
   // You may obtain a copy of the License at
   //
   //     http://www.apache.org/licenses/LICENSE-2.0
   //
   // Unless required by applicable law or agreed to in writing, software
   // distributed under the License is distributed on an "AS IS" BASIS,
   // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
   // See the License for the specific language governing permissions and
   // limitations under the License.
   
   #ifndef IMAGE_PIPELINE__WATERMARK_NODE_HPP_
   #define IMAGE_PIPELINE__WATERMARK_NODE_HPP_
   
   #include <memory>
   #include <sstream>
   #include <string>
   #include <utility>
   
   #include "opencv2/opencv.hpp"
   #include "rclcpp/rclcpp.hpp"
   #include "sensor_msgs/msg/image.hpp"
   
   #include "common.hpp"
   
   class WatermarkNode final : public rclcpp::Node
   {
   public:
     explicit WatermarkNode(
       const std::string & input, const std::string & output, const std::string & text,
       const std::string & node_name = "watermark_node")
     : Node(node_name, rclcpp::NodeOptions().use_intra_process_comms(true))
     {
       rclcpp::SensorDataQoS qos;
       // Create a publisher on the input topic.
       pub_ = this->create_publisher<sensor_msgs::msg::Image>(output, qos);
       std::weak_ptr<std::remove_pointer<decltype(pub_.get())>::type> captured_pub = pub_;
       // Create a subscription on the output topic.
       sub_ = this->create_subscription<sensor_msgs::msg::Image>(
         input,
         qos,
         [captured_pub, text](sensor_msgs::msg::Image::UniquePtr msg) {
           auto pub_ptr = captured_pub.lock();
           if (!pub_ptr) {
             return;
           }
           // Create a cv::Mat from the image message (without copying).
           cv::Mat cv_mat(
             msg->height, msg->width,
             encoding2mat_type(msg->encoding),
             msg->data.data());
           // Annotate the image with the pid, pointer address, and the watermark text.
           std::stringstream ss;
           ss << "pid: " << GETPID() << ", ptr: " << msg.get() << " " << text;
           draw_on_image(cv_mat, ss.str(), 40);
           pub_ptr->publish(std::move(msg));  // Publish it along.
         });
     }
   
   private:
     rclcpp::Publisher<sensor_msgs::msg::Image>::SharedPtr pub_;
     rclcpp::Subscription<sensor_msgs::msg::Image>::SharedPtr sub_;
   
     cv::VideoCapture cap_;
     cv::Mat frame_;
   };
   
   #endif  // IMAGE_PIPELINE__WATERMARK_NODE_HPP_