image_transport::CameraPublisher Class Reference

Manages advertisements for publishing camera images. More...

#include <camera_publisher.h>

Classes
struct	Impl

Public Member Functions
	CameraPublisher ()
std::string	getInfoTopic () const
	Returns the camera info topic of this CameraPublisher. More...
uint32_t	getNumSubscribers () const
	Returns the number of subscribers that are currently connected to this CameraPublisher. More...
std::string	getTopic () const
	Returns the base (image) topic of this CameraPublisher. More...
	operator void * () const
bool	operator!= (const CameraPublisher &rhs) const
bool	operator< (const CameraPublisher &rhs) const
bool	operator== (const CameraPublisher &rhs) const
void	publish (const sensor_msgs::Image &image, const sensor_msgs::CameraInfo &info) const
	Publish an (image, info) pair on the topics associated with this CameraPublisher. More...
void	publish (const sensor_msgs::ImageConstPtr &image, const sensor_msgs::CameraInfoConstPtr &info) const
	Publish an (image, info) pair on the topics associated with this CameraPublisher. More...
void	publish (sensor_msgs::Image &image, sensor_msgs::CameraInfo &info, ros::Time stamp) const
	Publish an (image, info) pair with given timestamp on the topics associated with this CameraPublisher. More...
void	shutdown ()
	Shutdown the advertisements associated with this Publisher. More...

Private Types
typedef boost::shared_ptr< Impl >	ImplPtr
typedef boost::weak_ptr< Impl >	ImplWPtr

Private Member Functions
	CameraPublisher (ImageTransport &image_it, ros::NodeHandle &info_nh, const std::string &base_topic, uint32_t queue_size, const SubscriberStatusCallback &image_connect_cb, const SubscriberStatusCallback &image_disconnect_cb, const ros::SubscriberStatusCallback &info_connect_cb, const ros::SubscriberStatusCallback &info_disconnect_cb, const ros::VoidPtr &tracked_object, bool latch)

Private Attributes
ImplPtr	impl_

Friends
class	ImageTransport

Detailed Description

Manages advertisements for publishing camera images.

CameraPublisher is a convenience class for publishing synchronized image and camera info topics using the standard topic naming convention, where the info topic name is "camera_info" in the same namespace as the base image topic.

On the client side, CameraSubscriber simplifies subscribing to camera images.

A CameraPublisher should always be created through a call to ImageTransport::advertiseCamera(), or copied from one that was. Once all copies of a specific CameraPublisher go out of scope, any subscriber callbacks associated with that handle will stop being called. Once all CameraPublisher for a given base topic go out of scope the topic (and all subtopics) will be unadvertised.

Definition at line 63 of file camera_publisher.h.

Member Typedef Documentation

ImplPtr

typedef boost::shared_ptr<Impl> image_transport::CameraPublisher::ImplPtr

private

Definition at line 125 of file camera_publisher.h.

ImplWPtr

typedef boost::weak_ptr<Impl> image_transport::CameraPublisher::ImplWPtr

private

Definition at line 127 of file camera_publisher.h.

Constructor & Destructor Documentation

CameraPublisher() [1/2]

image_transport::CameraPublisher::CameraPublisher ( )

inline

Definition at line 66 of file camera_publisher.h.

CameraPublisher() [2/2]

image_transport::CameraPublisher::CameraPublisher ( ImageTransport &  image_it, ros::NodeHandle &  info_nh, const std::string &  base_topic, uint32_t  queue_size, const SubscriberStatusCallback &  image_connect_cb, const SubscriberStatusCallback &  image_disconnect_cb, const ros::SubscriberStatusCallback &  info_connect_cb, const ros::SubscriberStatusCallback &  info_disconnect_cb, const ros::VoidPtr &  tracked_object, bool  latch  )

private

Definition at line 72 of file camera_publisher.cpp.

Member Function Documentation

getInfoTopic()

std::string image_transport::CameraPublisher::getInfoTopic

(

)

const

Returns the camera info topic of this CameraPublisher.

Definition at line 105 of file camera_publisher.cpp.

getNumSubscribers()

uint32_t image_transport::CameraPublisher::getNumSubscribers

(

)

const

Returns the number of subscribers that are currently connected to this CameraPublisher.

Returns max(image topic subscribers, info topic subscribers).

Definition at line 92 of file camera_publisher.cpp.

getTopic()

std::string image_transport::CameraPublisher::getTopic

(

)

const

Returns the base (image) topic of this CameraPublisher.

Definition at line 99 of file camera_publisher.cpp.

operator void *()

image_transport::CameraPublisher::operator void *

(

)

const

Definition at line 155 of file camera_publisher.cpp.

operator!=()

bool image_transport::CameraPublisher::operator!= ( const CameraPublisher &  rhs ) const

inline

Definition at line 113 of file camera_publisher.h.

operator<()

bool image_transport::CameraPublisher::operator< ( const CameraPublisher &  rhs ) const

inline

Definition at line 112 of file camera_publisher.h.

operator==()

bool image_transport::CameraPublisher::operator== ( const CameraPublisher &  rhs ) const

inline

Definition at line 114 of file camera_publisher.h.

publish() [1/3]

void image_transport::CameraPublisher::publish	(	const sensor_msgs::Image &	image,
		const sensor_msgs::CameraInfo &	info
	)		const

Publish an (image, info) pair on the topics associated with this CameraPublisher.

Definition at line 111 of file camera_publisher.cpp.

publish() [2/3]

void image_transport::CameraPublisher::publish	(	const sensor_msgs::ImageConstPtr &	image,
		const sensor_msgs::CameraInfoConstPtr &	info
	)		const

Publish an (image, info) pair on the topics associated with this CameraPublisher.

Definition at line 122 of file camera_publisher.cpp.

publish() [3/3]

void image_transport::CameraPublisher::publish	(	sensor_msgs::Image &	image,
		sensor_msgs::CameraInfo &	info,
		ros::Time	stamp
	)		const

Publish an (image, info) pair with given timestamp on the topics associated with this CameraPublisher.

Convenience version, which sets the timestamps of both image and info to stamp before publishing.

Definition at line 134 of file camera_publisher.cpp.

shutdown()

void image_transport::CameraPublisher::shutdown

(

)

Shutdown the advertisements associated with this Publisher.

Definition at line 147 of file camera_publisher.cpp.

Friends And Related Function Documentation

ImageTransport

friend class ImageTransport

friend

Definition at line 131 of file camera_publisher.h.

Member Data Documentation

impl_

ImplPtr image_transport::CameraPublisher::impl_

private

Definition at line 129 of file camera_publisher.h.

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The documentation for this class was generated from the following files:

• camera_publisher.h
• camera_publisher.cpp