Convenience class for implementing image transport codec plugins, which just relays the whole API to a Codec library. More...

#include <image_transport_codec_plugin.h>

Inheritance diagram for image_transport_codecs::ImageTransportCodecPluginBase< Codec >:

[legend]

Public Member Functions
ImageTransportCodec::DecodeResult	decode (const topic_tools::ShapeShifter &compressed, const dynamic_reconfigure::Config &config) const override
	Decode the given compressed image into a raw image. More...

ImageTransportCodec::EncodeResult	encode (const sensor_msgs::Image &raw, const dynamic_reconfigure::Config &config) const override
	Encode the given raw image into the given shapeshifter object. More...

ImageTransportCodec::GetCompressedContentResult	getCompressedImageContent (const topic_tools::ShapeShifter &compressed, const std::string &matchFormat) const override
	Return the part of the encoded message that represents the actual image data (i.e. the part that can be passed to external decoders or saved to a file). If the codec messages have no such meaning, empty result is returned. More...

std::string	getTransportName () const override
	Get the name of the codec/transport (used e.g. as topic suffix). More...

void	setLogHelper (const cras::LogHelperPtr &logHelper) override
	Use the given log helper for logging messages. More...

Public Member Functions inherited from image_transport_codecs::ImageTransportCodecPlugin
virtual	~ImageTransportCodecPlugin ()=default

Private Attributes
Codec	codec
	The codec used by this plugin. More...

Additional Inherited Members
Public Types inherited from image_transport_codecs::ImageTransportCodecPlugin
typedef boost::shared_ptr< const ImageTransportCodecPlugin >	ConstPtr
	Shared pointer to `const ImageTransportCodecPlugin`. More...

typedef boost::shared_ptr< ImageTransportCodecPlugin >	Ptr
	Shared pointer to `ImageTransportCodecPlugin`. More...

Detailed Description

template<typename Codec>
class image_transport_codecs::ImageTransportCodecPluginBase< Codec >

Convenience class for implementing image transport codec plugins, which just relays the whole API to a Codec library.

Template Parameters

Codec Class of the codec.

If used properly, the whole code of the codec plugin library can be as short as:

#include <pluginlib/class_list_macros.h>
 
#include <image_transport_codecs/codecs/compressed_codec.h>
#include <image_transport_codecs/image_transport_codec_plugin.h>
 
namespace image_transport_codecs
{
 
class CompressedImageTransportCodecPlugin : public ImageTransportCodecPluginBase<CompressedCodec> {};
 
}
 
PLUGINLIB_EXPORT_CLASS(image_transport_codecs::CompressedImageTransportCodecPlugin,
                       image_transport_codecs::ImageTransportCodecPlugin)

Definition at line 138 of file image_transport_codec_plugin.h.

Member Function Documentation

◆ decode()

template<typename Codec >

ImageTransportCodec::DecodeResult image_transport_codecs::ImageTransportCodecPluginBase< Codec >::decode	(	const topic_tools::ShapeShifter &	compressed,
		const dynamic_reconfigure::Config &	config
	)		const

inlineoverridevirtual

Decode the given compressed image into a raw image.

Parameters

[in]	compressed	The shapeshifter of the compressed image to be decoded.
[in]	config	Config of the decompression (if it has any parameters).

Returns: The decoded raw image (if decoding succeeds), or an error message.

Implements image_transport_codecs::ImageTransportCodecPlugin.

Definition at line 157 of file image_transport_codec_plugin.h.

◆ encode()

template<typename Codec >

ImageTransportCodec::EncodeResult image_transport_codecs::ImageTransportCodecPluginBase< Codec >::encode	(	const sensor_msgs::Image &	raw,
		const dynamic_reconfigure::Config &	config
	)		const

inlineoverridevirtual

Encode the given raw image into the given shapeshifter object.

Parameters

[in]	raw	The input raw image.
[in]	config	Config of the compression (if it has any parameters).

Returns: The output shapeshifter holding the compressed image message (if encoding succeeds), or an error message.

Implements image_transport_codecs::ImageTransportCodecPlugin.

Definition at line 151 of file image_transport_codec_plugin.h.

◆ getCompressedImageContent()

template<typename Codec >

ImageTransportCodec::GetCompressedContentResult image_transport_codecs::ImageTransportCodecPluginBase< Codec >::getCompressedImageContent	(	const topic_tools::ShapeShifter &	compressed,
		const std::string &	matchFormat
	)		const

inlineoverridevirtual

Return the part of the encoded message that represents the actual image data (i.e. the part that can be passed to external decoders or saved to a file). If the codec messages have no such meaning, empty result is returned.

Parameters

[in]	compressed	The compressed image.
[in]	matchFormat	If nonempty, the image data is only returned if their `format` field would match the given one. The matching should be case-insensitive.