Basic interface of an image transport codec plugin. More...

#include <image_transport_codec_plugin.h>

Inheritance diagram for image_transport_codecs::ImageTransportCodecPlugin:

Public Types
typedef boost::shared_ptr< const ImageTransportCodecPlugin >	ConstPtr
	Shared pointer to `const ImageTransportCodecPlugin`. More...

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

Public Member Functions
virtual ImageTransportCodec::DecodeResult	decode (const topic_tools::ShapeShifter &compressed, const dynamic_reconfigure::Config &config) const =0
	Decode the given compressed image into a raw image. More...

virtual ImageTransportCodec::EncodeResult	encode (const sensor_msgs::Image &raw, const dynamic_reconfigure::Config &config) const =0
	Encode the given raw image into the given shapeshifter object. More...

virtual ImageTransportCodec::GetCompressedContentResult	getCompressedImageContent (const topic_tools::ShapeShifter &compressed, const std::string &matchFormat) const =0
	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...

virtual std::string	getTransportName () const =0
	Get the name of the codec/transport (used e.g. as topic suffix). More...

virtual void	setLogHelper (const cras::LogHelperPtr &logHelper)=0
	Use the given log helper for logging messages. More...

virtual	~ImageTransportCodecPlugin ()=default

Detailed Description

Basic interface of an image transport codec plugin.

Note

Do not forget to register the codec plugin library via pluginlib:

terminology: "codec library" is the C++ library implementing the ImageTransportCodec interface. "codec plugin library" is a different library (cannot be the same!) which implements the ImageTransportCodecPlugin interface.
put this at the beginning of the plugin .cpp file: #include <pluginlib/class_list_macros.h>
put this to the end of the plugin .cpp file: PLUGINLIB_EXPORT_CLASS(<PLUGIN>, image_transport_codecs::ImageTransportCodecPlugin)
- substitute <PLUGIN> with the fully qualified name of your plugin class
do NOT add the codec plugin library to catkin_package(LIBRARIES...) in your CMakeLists.txt.
DO add the codec (not plugin) library to catkin_package(LIBRARIES...) in your CMakeLists.txt.
implement the plugin to be just a thin wrapper around the codec library (ImageTransportCodecPluginBase can make that really easy)
add <exec_depend>image_transport_codecs</exec_depend> to your package.xml
add <export><image_transport_codecs plugin="${prefix}/plugins.xml" /></export> to your package.xml
create file plugins.xml in the root of your package with the following content
<library path="lib/libPLUGIN_LIB_NAME">
<class name="image_transport_codecs/CODEC" type="PLUGIN"
base_class_type="image_transport_codecs::ImageTransportCodecPlugin">
<description>MY PLUGIN DESCRIPTION</description>
</class>
</library>
- substitute CODEC with the topic suffix your codec uses
- substitute PLUGIN with the fully qualified name of your codec plugin class
- substitute PLUGIN_LIB_NAME with the name of the dynamic library your codec plugin uses
- substitute MY PLUGIN DESCRIPTION with some meaningful description of the codec
do not forget to install the codec library, codec plugin library, includes of the codec library and plugins.xml files in your CMakeLists.txt.

Definition at line 58 of file image_transport_codec_plugin.h.

Member Typedef Documentation

◆ ConstPtr

typedef boost::shared_ptr<const ImageTransportCodecPlugin> image_transport_codecs::ImageTransportCodecPlugin::ConstPtr

Shared pointer to const ImageTransportCodecPlugin.

Definition at line 65 of file image_transport_codec_plugin.h.

◆ Ptr

typedef boost::shared_ptr<ImageTransportCodecPlugin> image_transport_codecs::ImageTransportCodecPlugin::Ptr

Shared pointer to ImageTransportCodecPlugin.

Definition at line 62 of file image_transport_codec_plugin.h.

Constructor & Destructor Documentation

◆ ~ImageTransportCodecPlugin()

virtual image_transport_codecs::ImageTransportCodecPlugin::~ImageTransportCodecPlugin ( )

virtualdefault

Member Function Documentation

◆ decode()

virtual ImageTransportCodec::DecodeResult image_transport_codecs::ImageTransportCodecPlugin::decode	(	const topic_tools::ShapeShifter &	compressed,
		const dynamic_reconfigure::Config &	config
	)		const

pure virtual

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.

Implemented in image_transport_codecs::ImageTransportCodecPluginBase< Codec >.

◆ encode()

virtual ImageTransportCodec::EncodeResult image_transport_codecs::ImageTransportCodecPlugin::encode	(	const sensor_msgs::Image &	raw,
		const dynamic_reconfigure::Config &	config
	)		const

pure virtual

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.

Implemented in image_transport_codecs::ImageTransportCodecPluginBase< Codec >.

◆ getCompressedImageContent()

virtual ImageTransportCodec::GetCompressedContentResult image_transport_codecs::ImageTransportCodecPlugin::getCompressedImageContent	(	const topic_tools::ShapeShifter &	compressed,
		const std::string &	matchFormat
	)		const

pure virtual

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.

Returns: If it makes sense, the contained image bytes. If not, empty result. If an error occurred, it is reported as the unexpected result.

Implemented in image_transport_codecs::ImageTransportCodecPluginBase< Codec >.

◆ getTransportName()

virtual std::string image_transport_codecs::ImageTransportCodecPlugin::getTransportName ( ) const

pure virtual

Get the name of the codec/transport (used e.g. as topic suffix).

Note: This name has to be unique among all defined codecs.

Returns: The transport name.

Implemented in image_transport_codecs::ImageTransportCodecPluginBase< Codec >.

◆ setLogHelper()

virtual void image_transport_codecs::ImageTransportCodecPlugin::setLogHelper ( const cras::LogHelperPtr & logHelper )

pure virtual

Use the given log helper for logging messages.

Parameters

[in] logHelper The log helper to use.

Implemented in image_transport_codecs::ImageTransportCodecPluginBase< Codec >.

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

image_transport_codec_plugin.h

Public Types

Public Member Functions

Detailed Description

Member Typedef Documentation

◆ ConstPtr

◆ Ptr

Constructor & Destructor Documentation

◆ ~ImageTransportCodecPlugin()

Member Function Documentation

◆ decode()

◆ encode()

◆ getCompressedImageContent()

◆ getTransportName()

◆ setLogHelper()