image_transport::CameraSubscriber Class Reference

Manages a subscription callback on synchronized Image and CameraInfo topics. More...

#include <camera_subscriber.h>

Classes
struct	Impl

Public Types
typedef boost::function< void(const sensor_msgs::ImageConstPtr &, const sensor_msgs::CameraInfoConstPtr &)>	Callback

Public Member Functions
	CameraSubscriber ()
std::string	getInfoTopic () const
	Get the camera info topic. More...
uint32_t	getNumPublishers () const
	Returns the number of publishers this subscriber is connected to. More...
std::string	getTopic () const
	Get the base topic (on which the raw image is published). More...
std::string	getTransport () const
	Returns the name of the transport being used. More...
	operator void * () const
bool	operator!= (const CameraSubscriber &rhs) const
bool	operator< (const CameraSubscriber &rhs) const
bool	operator== (const CameraSubscriber &rhs) const
void	shutdown ()
	Unsubscribe the callback associated with this CameraSubscriber. More...

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

Private Member Functions
	CameraSubscriber (ImageTransport &image_it, ros::NodeHandle &info_nh, const std::string &base_topic, uint32_t queue_size, const Callback &callback, const ros::VoidPtr &tracked_object=ros::VoidPtr(), const TransportHints &transport_hints=TransportHints())

Private Attributes
ImplPtr	impl_

Friends
class	ImageTransport

Detailed Description

Manages a subscription callback on synchronized Image and CameraInfo topics.

CameraSubscriber is the client-side counterpart to CameraPublisher, and assumes the same topic naming convention. The callback is of type:

void callback(const sensor_msgs::ImageConstPtr&, const sensor_msgs::CameraInfoConstPtr&);

A CameraSubscriber should always be created through a call to ImageTransport::subscribeCamera(), or copied from one that was. Once all copies of a specific CameraSubscriber go out of scope, the subscription callback associated with that handle will stop being called. Once all CameraSubscriber for a given topic go out of scope the topic will be unsubscribed.

Definition at line 63 of file camera_subscriber.h.

Member Typedef Documentation

Callback

typedef boost::function<void(const sensor_msgs::ImageConstPtr&, const sensor_msgs::CameraInfoConstPtr&)> image_transport::CameraSubscriber::Callback

Definition at line 67 of file camera_subscriber.h.

ImplPtr

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

private

Definition at line 108 of file camera_subscriber.h.

ImplWPtr

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

private

Definition at line 110 of file camera_subscriber.h.

Constructor & Destructor Documentation

CameraSubscriber() [1/2]

image_transport::CameraSubscriber::CameraSubscriber ( )

inline

Definition at line 69 of file camera_subscriber.h.

CameraSubscriber() [2/2]

image_transport::CameraSubscriber::CameraSubscriber ( ImageTransport &  image_it, ros::NodeHandle &  info_nh, const std::string &  base_topic, uint32_t  queue_size, const Callback &  callback, const ros::VoidPtr &  tracked_object = ros::VoidPtr(), const TransportHints &  transport_hints = TransportHints()  )

private

Definition at line 100 of file camera_subscriber.cpp.

Member Function Documentation

getInfoTopic()

std::string image_transport::CameraSubscriber::getInfoTopic

(

)

const

Get the camera info topic.

Definition at line 130 of file camera_subscriber.cpp.

getNumPublishers()

uint32_t image_transport::CameraSubscriber::getNumPublishers

(

)

const

Returns the number of publishers this subscriber is connected to.

Todo:

Fix this when message_filters::Subscriber has getNumPublishers()

Definition at line 136 of file camera_subscriber.cpp.

getTopic()

std::string image_transport::CameraSubscriber::getTopic

(

)

const

Get the base topic (on which the raw image is published).

Definition at line 124 of file camera_subscriber.cpp.

getTransport()

std::string image_transport::CameraSubscriber::getTransport

(

)

const

Returns the name of the transport being used.

Definition at line 144 of file camera_subscriber.cpp.

operator void *()

image_transport::CameraSubscriber::operator void *

(

)

const

Definition at line 155 of file camera_subscriber.cpp.

operator!=()

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

inline

Definition at line 98 of file camera_subscriber.h.

operator<()

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

inline

Definition at line 97 of file camera_subscriber.h.

operator==()

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

inline

Definition at line 99 of file camera_subscriber.h.

shutdown()

void image_transport::CameraSubscriber::shutdown

(

)

Unsubscribe the callback associated with this CameraSubscriber.

Definition at line 150 of file camera_subscriber.cpp.

Friends And Related Function Documentation

ImageTransport

friend class ImageTransport

friend

Definition at line 114 of file camera_subscriber.h.

Member Data Documentation

impl_

ImplPtr image_transport::CameraSubscriber::impl_

private

Definition at line 112 of file camera_subscriber.h.

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

• camera_subscriber.h
• camera_subscriber.cpp