Plugin-based interface for compressing and decompressing images using codec plugins. More...

#include <image_transport_codecs.h>

Inheritance diagram for image_transport_codecs::ImageTransportCodecs:

Public Member Functions
void	addCodec (const ImageTransportCodecPlugin::ConstPtr &codec)
	Manually add a codec instance. This is usually not needed as the codecs are autodetected using pluginlib. More...

virtual ImageTransportCodec::DecodeResult	decode (const topic_tools::ShapeShifter &compressed, const std::string &topicOrCodec, const dynamic_reconfigure::Config &config)
	Decode the given compressed image shapeshifter into a raw image. More...

ImageTransportCodec::DecodeResult	decode (const topic_tools::ShapeShifter &compressed, const std::string &topicOrCodec)
	Decode the given compressed image shapeshifter into a raw image using the default decompression parameters. More...

ImageTransportCodec::DecodeResult	decode (const topic_tools::ShapeShifter &compressed, const std::string &topicOrCodec, const XmlRpc::XmlRpcValue &config)
	Decode the given compressed image shapeshifter into a raw image. More...

ImageTransportCodec::DecodeResult	decode (const topic_tools::ShapeShifter &compressed, const std::string &topicOrCodec, const ros::NodeHandle &nh, const std::string &param)
	Decode the given compressed image shapeshifter into a raw image. More...

template<typename Config >
ImageTransportCodec::DecodeResult	decode (const topic_tools::ShapeShifter &compressed, const std::string &topicOrCodec, const Config &config)
	Decode the given compressed image shapeshifter into a raw image. More...

template<typename M >
ImageTransportCodec::DecodeResult	decodeTyped (const M &compressed, const std::string &topicOrCodec, const dynamic_reconfigure::Config &config)
	Decode the given compressed image into a raw image. More...

template<typename M >
ImageTransportCodec::DecodeResult	decodeTyped (const M &compressed, const std::string &topicOrCodec)
	Decode the given compressed image into a raw image using the default decompression parameters. More...

template<typename M >
ImageTransportCodec::DecodeResult	decodeTyped (const M &compressed, const std::string &topicOrCodec, const XmlRpc::XmlRpcValue &config)
	Decode the given compressed image into a raw image. More...

template<typename M >
ImageTransportCodec::DecodeResult	decodeTyped (const M &compressed, const std::string &topicOrCodec, const ros::NodeHandle &nh, const std::string &param)
	Decode the given compressed image into a raw image. More...

template<typename M , typename Config >
ImageTransportCodec::DecodeResult	decodeTyped (const M &compressed, const std::string &topicOrCodec, const Config &config)
	Decode the given compressed image into a raw image. More...

virtual ImageTransportCodec::EncodeResult	encode (const sensor_msgs::Image &raw, const std::string &topicOrCodec, const dynamic_reconfigure::Config &config)
	Encode the given raw image into a compressed image shapeshifter. More...

ImageTransportCodec::EncodeResult	encode (const sensor_msgs::Image &raw, const std::string &topicOrCodec)
	Encode the given raw image into a compressed image shapeshifter using the default compression parameters. More...

ImageTransportCodec::EncodeResult	encode (const sensor_msgs::Image &raw, const std::string &topicOrCodec, const XmlRpc::XmlRpcValue &config)
	Encode the given raw image into a compressed image shapeshifter. More...

ImageTransportCodec::EncodeResult	encode (const sensor_msgs::Image &raw, const std::string &topicOrCodec, const ros::NodeHandle &nh, const std::string &param)
	Encode the given raw image into a compressed image shapeshifter. More...

template<typename Config >
ImageTransportCodec::EncodeResult	encode (const sensor_msgs::Image &raw, const std::string &topicOrCodec, const Config &config)
	Encode the given raw image into a compressed image shapeshifter. More...

template<typename M >
cras::expected< M, std::string >	encodeTyped (const sensor_msgs::Image &raw, const std::string &topicOrCodec, const dynamic_reconfigure::Config &config)
	Encode the given raw image into a compressed image. More...

template<typename M >
cras::expected< M, std::string >	encodeTyped (const sensor_msgs::Image &raw, const std::string &topicOrCodec)
	Encode the given raw image into a compressed image using the default compression parameters. More...

template<typename M >
cras::expected< M, std::string >	encodeTyped (const sensor_msgs::Image &raw, const std::string &topicOrCodec, const XmlRpc::XmlRpcValue &config)
	Encode the given raw image into a compressed image. More...

template<typename M >
cras::expected< M, std::string >	encodeTyped (const sensor_msgs::Image &raw, const std::string &topicOrCodec, const ros::NodeHandle &nh, const std::string &param)
	Encode the given raw image into a compressed image. More...

template<typename M , typename Config >
cras::expected< M, std::string >	encodeTyped (const sensor_msgs::Image &raw, const std::string &topicOrCodec, const Config &config)
	Encode the given raw image into a compressed image. More...

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

ImageTransportCodec::GetCompressedContentResult	getCompressedImageContent (const topic_tools::ShapeShifter &compressed, const std::string &topicOrCodec) const
	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...

	ImageTransportCodecs (const cras::LogHelperPtr &log=std::make_shared< cras::NodeLogHelper >())
	Create the codec interface and load all available codecs. More...

virtual	~ImageTransportCodecs ()

Public Member Functions inherited from cras::HasLogger
::cras::LogHelperConstPtr	getCrasLogger () const

	HasLogger (const ::cras::LogHelperPtr &log)

void	setCrasLogger (const ::cras::LogHelperPtr &log)

Protected Member Functions
void	loadCodecs ()
	Load all codecs available via pluginlib. This function can be called multiple times without negative performance impact - the loading is only done for the first time. More...

std::string	parseTransport (const std::string &topicOrCodec) const
	Parse the name of the codec from a topic. More...

Protected Attributes
std::unordered_map< std::string, ImageTransportCodecPlugin::ConstPtr >	codecs
	Loaded codecs. More...

std::unique_ptr< pluginlib::ClassLoader< ImageTransportCodecPlugin > >	loader
	Pluginlib loader of codecs. More...

Protected Attributes inherited from cras::HasLogger
::cras::LogHelperPtr	log

Detailed Description

Plugin-based interface for compressing and decompressing images using codec plugins.

Example usage:

image_transport_codecs::ImageTransportCodecs codecs;
sensor_msgs::Image raw = ...;
auto result = codecs.encode(raw, "compressed");
if (!result)
{
  ROS_ERROR_STREAM("Error encoding image: " << result.error();
  return false;
}
sensor_msgs::CompressedImage compressed = result.value();

Definition at line 48 of file image_transport_codecs.h.

Constructor & Destructor Documentation

◆ ImageTransportCodecs()

image_transport_codecs::ImageTransportCodecs::ImageTransportCodecs ( const cras::LogHelperPtr & log = std::make_shared< cras::NodeLogHelper >() )

explicit

Create the codec interface and load all available codecs.

Parameters

[in] log Log helper.

◆ ~ImageTransportCodecs()

virtual image_transport_codecs::ImageTransportCodecs::~ImageTransportCodecs ( )

virtual

Member Function Documentation

◆ addCodec()

void image_transport_codecs::ImageTransportCodecs::addCodec ( const ImageTransportCodecPlugin::ConstPtr & codec )

Manually add a codec instance. This is usually not needed as the codecs are autodetected using pluginlib.

Parameters

[in] codec The codec to add.

◆ decode() [1/5]

virtual ImageTransportCodec::DecodeResult image_transport_codecs::ImageTransportCodecs::decode	(	const topic_tools::ShapeShifter &	compressed,
		const std::string &	topicOrCodec,
		const dynamic_reconfigure::Config &	config
	)

virtual

Decode the given compressed image shapeshifter into a raw image.

Parameters

[in]	compressed	The shapeshifter of the compressed image to be decoded.
[in]	topicOrCodec	Either the output of a codec's `getTransportName()`, or name of a topic from which the compressed message was received (so that it is possible to parse the codec from the topic). Do not pass the raw image topic - that would result in using `RawCodecPlugin` which you probably do not want.
[in]	config	Config of the decompression (if it has any parameters).

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

◆ decode() [2/5]

ImageTransportCodec::DecodeResult image_transport_codecs::ImageTransportCodecs::decode	(	const topic_tools::ShapeShifter &	compressed,
		const std::string &	topicOrCodec
	)

Decode the given compressed image shapeshifter into a raw image using the default decompression parameters.

Parameters

[in]	compressed	The shapeshifter of the compressed image to be decoded.
[in]	topicOrCodec	Either the output of a codec's `getTransportName()`, or name of a topic from which the compressed message was received (so that it is possible to parse the codec from the topic). Do not pass the raw image topic - that would result in using `RawCodecPlugin` which you probably do not want.

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

◆ decode() [3/5]

ImageTransportCodec::DecodeResult image_transport_codecs::ImageTransportCodecs::decode	(	const topic_tools::ShapeShifter &	compressed,
		const std::string &	topicOrCodec,
		const XmlRpc::XmlRpcValue &	config
	)

Decode the given compressed image shapeshifter into a raw image.

Parameters

[in]	compressed	The shapeshifter of the compressed image to be decoded.
[in]	topicOrCodec	Either the output of a codec's `getTransportName()`, or name of a topic from which the compressed message was received (so that it is possible to parse the codec from the topic). Do not pass the raw image topic - that would result in using `RawCodecPlugin` which you probably do not want.
[in]	config	Config of the decompression (if it has any parameters). Pass a XmlRpc dict.

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

◆ decode() [4/5]

ImageTransportCodec::DecodeResult image_transport_codecs::ImageTransportCodecs::decode	(	const topic_tools::ShapeShifter &	compressed,
		const std::string &	topicOrCodec,
		const ros::NodeHandle &	nh,
		const std::string &	param
	)

Decode the given compressed image shapeshifter into a raw image.

Parameters

[in]	compressed	The shapeshifter of the compressed image to be decoded.
[in]	topicOrCodec	Either the output of a codec's `getTransportName()`, or name of a topic from which the compressed message was received (so that it is possible to parse the codec from the topic). Do not pass the raw image topic - that would result in using `RawCodecPlugin` which you probably do not want.
[in]	nh	Node handle to get parameters from.
[in]	param	Name of the parameter from which config of the decompression can be read (if it has any parameters).

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

◆ decode() [5/5]

template<typename Config >

ImageTransportCodec::DecodeResult image_transport_codecs::ImageTransportCodecs::decode	(	const topic_tools::ShapeShifter &	compressed,
		const std::string &	topicOrCodec,
		const Config &	config
	)

inline

Decode the given compressed image shapeshifter into a raw image.

Template Parameters

Config Type of the config object. This should be the generated dynamic_reconfigure interface of the corresponding image_transport subscriber.

Parameters

[in]	compressed	The shapeshifter of the compressed image to be decoded.
[in]	topicOrCodec	Either the output of a codec's `getTransportName()`, or name of a topic from which the compressed message was received (so that it is possible to parse the codec from the topic). Do not pass the raw image topic - that would result in using `RawCodecPlugin` which you probably do not want.
[in]	config	Config of the decompression (if it has any parameters).

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

Definition at line 235 of file image_transport_codecs.h.

◆ decodeTyped() [1/5]

template<typename M >

ImageTransportCodec::DecodeResult image_transport_codecs::ImageTransportCodecs::decodeTyped	(	const M &	compressed,
		const std::string &	topicOrCodec,
		const dynamic_reconfigure::Config &	config
	)

inline

Decode the given compressed image into a raw image.

Template Parameters

M	Type of the compressed message.

Parameters

[in]	compressed	The compressed image to be decoded.
[in]	topicOrCodec	Either the output of a codec's `getTransportName()`, or name of a topic from which the compressed message was received (so that it is possible to parse the codec from the topic). Do not pass the raw image topic - that would result in using `RawCodecPlugin` which you probably do not want.
[in]	config	Config of the decompression (if it has any parameters).

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

Definition at line 284 of file image_transport_codecs.h.

◆ decodeTyped() [2/5]

template<typename M >

ImageTransportCodec::DecodeResult image_transport_codecs::ImageTransportCodecs::decodeTyped	(	const M &	compressed,
		const std::string &	topicOrCodec
	)

inline

Decode the given compressed image into a raw image using the default decompression parameters.

Template Parameters

M	Type of the compressed message.

Parameters

[in]	compressed	The compressed image to be decoded.
[in]	topicOrCodec	Either the output of a codec's `getTransportName()`, or name of a topic from which the compressed message was received (so that it is possible to parse the codec from the topic). Do not pass the raw image topic - that would result in using `RawCodecPlugin` which you probably do not want.

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

Definition at line 319 of file image_transport_codecs.h.

◆ decodeTyped() [3/5]

template<typename M >

ImageTransportCodec::DecodeResult image_transport_codecs::ImageTransportCodecs::decodeTyped	(	const M &	compressed,
		const std::string &	topicOrCodec,
		const XmlRpc::XmlRpcValue &	config
	)

inline

Decode the given compressed image into a raw image.

Template Parameters

M	Type of the compressed message.

Parameters

[in]	compressed	The compressed image to be decoded.
[in]	topicOrCodec	Either the output of a codec's `getTransportName()`, or name of a topic from which the compressed message was received (so that it is possible to parse the codec from the topic). Do not pass the raw image topic - that would result in using `RawCodecPlugin` which you probably do not want.
[in]	config	Config of the decompression (if it has any parameters). Pass a XmlRpc dict.

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

Definition at line 359 of file image_transport_codecs.h.

◆ decodeTyped() [4/5]

template<typename M >

ImageTransportCodec::DecodeResult image_transport_codecs::ImageTransportCodecs::decodeTyped	(	const M &	compressed,
		const std::string &	topicOrCodec,
		const ros::NodeHandle &	nh,
		const std::string &	param
	)

inline

Decode the given compressed image into a raw image.

Template Parameters

M	Type of the compressed message.

Parameters

[in]	compressed	The compressed image to be decoded.
[in]	topicOrCodec	Either the output of a codec's `getTransportName()`, or name of a topic from which the compressed message was received (so that it is possible to parse the codec from the topic). Do not pass the raw image topic - that would result in using `RawCodecPlugin` which you probably do not want.
[in]	nh	Node handle to get parameters from.
[in]	param	Name of the parameter from which config of the decompression can be read (if it has any parameters).

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

Definition at line 403 of file image_transport_codecs.h.

◆ decodeTyped() [5/5]

template<typename M , typename Config >

ImageTransportCodec::DecodeResult image_transport_codecs::ImageTransportCodecs::decodeTyped	(	const M &	compressed,
		const std::string &	topicOrCodec,
		const Config &	config
	)

inline

Decode the given compressed image into a raw image.

Template Parameters

M	Type of the compressed message.
Config	Type of the config object. This should be the generated dynamic_reconfigure interface of the corresponding image_transport publisher.

Parameters

[in]	compressed	The compressed image to be decoded.
[in]	topicOrCodec	Either the output of a codec's `getTransportName()`, or name of a topic from which the compressed message was received (so that it is possible to parse the codec from the topic). Do not pass the raw image topic - that would result in using `RawCodecPlugin` which you probably do not want.
[in]	config	Config of the decompression (if it has any parameters).

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

Definition at line 445 of file image_transport_codecs.h.

◆ encode() [1/5]

virtual ImageTransportCodec::EncodeResult image_transport_codecs::ImageTransportCodecs::encode	(	const sensor_msgs::Image &	raw,
		const std::string &	topicOrCodec,
		const dynamic_reconfigure::Config &	config
	)

virtual

Encode the given raw image into a compressed image shapeshifter.

Parameters

[in]	raw	The input raw image.
[in]	topicOrCodec	Either the output of a codec's `getTransportName()`, or name of a topic where the compressed message will be published (so that it is possible to parse the codec from the topic). Do not pass the raw image topic - that would result in using `RawCodecPlugin` which you probably do not want.
[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.

◆ encode() [2/5]

ImageTransportCodec::EncodeResult image_transport_codecs::ImageTransportCodecs::encode	(	const sensor_msgs::Image &	raw,
		const std::string &	topicOrCodec
	)

Encode the given raw image into a compressed image shapeshifter using the default compression parameters.

Parameters

[in]	raw	The input raw image.
[in]	topicOrCodec	Either the output of a codec's `getTransportName()`, or name of a topic where the compressed message will be published (so that it is possible to parse the codec from the topic). Do not pass the raw image topic - that would result in using `RawCodecPlugin` which you probably do not want.

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

◆ encode() [3/5]

ImageTransportCodec::EncodeResult image_transport_codecs::ImageTransportCodecs::encode	(	const sensor_msgs::Image &	raw,
		const std::string &	topicOrCodec,
		const XmlRpc::XmlRpcValue &	config
	)

Encode the given raw image into a compressed image shapeshifter.

Parameters

[in]	raw	The input raw image.
[in]	topicOrCodec	Either the output of a codec's `getTransportName()`, or name of a topic where the compressed message will be published (so that it is possible to parse the codec from the topic). Do not pass the raw image topic - that would result in using `RawCodecPlugin` which you probably do not want.
[in]	config	Config of the compression (if it has any parameters). Pass a XmlRpc dict.

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

◆ encode() [4/5]

ImageTransportCodec::EncodeResult image_transport_codecs::ImageTransportCodecs::encode	(	const sensor_msgs::Image &	raw,
		const std::string &	topicOrCodec,
		const ros::NodeHandle &	nh,
		const std::string &	param
	)

Encode the given raw image into a compressed image shapeshifter.

Parameters

[in]	raw	The input raw image.
[in]	topicOrCodec	Either the output of a codec's `getTransportName()`, or name of a topic where the compressed message will be published (so that it is possible to parse the codec from the topic). Do not pass the raw image topic - that would result in using `RawCodecPlugin` which you probably do not want.
[in]	nh	Node handle to get parameters from.
[in]	param	Name of the parameter from which config of the compression can be read (if it has any parameters).

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

◆ encode() [5/5]

template<typename Config >

ImageTransportCodec::EncodeResult image_transport_codecs::ImageTransportCodecs::encode	(	const sensor_msgs::Image &	raw,
		const std::string &	topicOrCodec,
		const Config &	config
	)

inline

Encode the given raw image into a compressed image shapeshifter.

Template Parameters

Config Type of the config object. This should be the generated dynamic_reconfigure interface of the corresponding image_transport publisher.

Parameters

[in]	raw	The input raw image.
[in]	topicOrCodec	Either the output of a codec's `getTransportName()`, or name of a topic where the compressed message will be published (so that it is possible to parse the codec from the topic). Do not pass the raw image topic - that would result in using `RawCodecPlugin` which you probably do not want.
[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.

Definition at line 214 of file image_transport_codecs.h.

◆ encodeTyped() [1/5]

template<typename M >

cras::expected<M, std::string> image_transport_codecs::ImageTransportCodecs::encodeTyped	(	const sensor_msgs::Image &	raw,
		const std::string &	topicOrCodec,
		const dynamic_reconfigure::Config &	config
	)

inline

Encode the given raw image into a compressed image.

Template Parameters

M	Type of the compressed message.

Parameters

[in]	raw	The input raw image.
[in]	topicOrCodec	Either the output of a codec's `getTransportName()`, or name of a topic where the compressed message will be published (so that it is possible to parse the codec from the topic). Do not pass the raw image topic - that would result in using `RawCodecPlugin` which you probably do not want.
[in]	config	Config of the compression (if it has any parameters).

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

Definition at line 255 of file image_transport_codecs.h.

◆ encodeTyped() [2/5]

template<typename M >

cras::expected<M, std::string> image_transport_codecs::ImageTransportCodecs::encodeTyped	(	const sensor_msgs::Image &	raw,
		const std::string &	topicOrCodec
	)

inline

Encode the given raw image into a compressed image using the default compression parameters.

Template Parameters

M	Type of the compressed message.

Parameters

[in]	raw	The input raw image.
[in]	topicOrCodec	Either the output of a codec's `getTransportName()`, or name of a topic where the compressed message will be published (so that it is possible to parse the codec from the topic). Do not pass the raw image topic - that would result in using `RawCodecPlugin` which you probably do not want.

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

Definition at line 303 of file image_transport_codecs.h.

◆ encodeTyped() [3/5]

template<typename M >

cras::expected<M, std::string> image_transport_codecs::ImageTransportCodecs::encodeTyped	(	const sensor_msgs::Image &	raw,
		const std::string &	topicOrCodec,
		const XmlRpc::XmlRpcValue &	config
	)

inline

Encode the given raw image into a compressed image.

Template Parameters

M	Type of the compressed message.

Parameters

[in]	raw	The input raw image.
[in]	topicOrCodec	Either the output of a codec's `getTransportName()`, or name of a topic where the compressed message will be published (so that it is possible to parse the codec from the topic). Do not pass the raw image topic - that would result in using `RawCodecPlugin` which you probably do not want.
[in]	config	Config of the compression (if it has any parameters). Pass a XmlRpc dict.

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

Definition at line 336 of file image_transport_codecs.h.

◆ encodeTyped() [4/5]

template<typename M >

cras::expected<M, std::string> image_transport_codecs::ImageTransportCodecs::encodeTyped	(	const sensor_msgs::Image &	raw,
		const std::string &	topicOrCodec,
		const ros::NodeHandle &	nh,
		const std::string &	param
	)

inline

Encode the given raw image into a compressed image.

Template Parameters

M	Type of the compressed message.

Parameters

[in]	raw	The input raw image.
[in]	topicOrCodec	Either the output of a codec's `getTransportName()`, or name of a topic where the compressed message will be published (so that it is possible to parse the codec from the topic). Do not pass the raw image topic - that would result in using `RawCodecPlugin` which you probably do not want.
[in]	nh	Node handle to get parameters from.
[in]	param	Name of the parameter from which config of the compression can be read (if it has any parameters).

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

Definition at line 383 of file image_transport_codecs.h.

◆ encodeTyped() [5/5]

template<typename M , typename Config >

cras::expected<M, std::string> image_transport_codecs::ImageTransportCodecs::encodeTyped	(	const sensor_msgs::Image &	raw,
		const std::string &	topicOrCodec,
		const Config &	config
	)

inline

Encode the given raw image into a compressed image.

Template Parameters

M	Type of the compressed message.
Config	Type of the config object. This should be the generated dynamic_reconfigure interface of the corresponding image_transport publisher.

Parameters

[in]	raw	The input raw image.
[in]	topicOrCodec	Either the output of a codec's `getTransportName()`, or name of a topic where the compressed message will be published (so that it is possible to parse the codec from the topic). Do not pass the raw image topic - that would result in using `RawCodecPlugin` which you probably do not want.
[in]	config	Config of the compression (if it has any parameters).

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

Definition at line 423 of file image_transport_codecs.h.

◆ getCompressedImageContent() [1/2]

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

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]	topicOrCodec	Either the output of a codec's `getTransportName()`, or name of a topic from which the compressed message was received (so that it is possible to parse the codec from the topic). Do not pass the raw image topic - that would result in using `RawCodecPlugin` which you probably do not want.
[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.

◆ getCompressedImageContent() [2/2]

ImageTransportCodec::GetCompressedContentResult image_transport_codecs::ImageTransportCodecs::getCompressedImageContent	(	const topic_tools::ShapeShifter &	compressed,
		const std::string &	topicOrCodec
	)		const

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]	topicOrCodec	Either the output of a codec's `getTransportName()`, or name of a topic from which the compressed message was received (so that it is possible to parse the codec from the topic). Do not pass the raw image topic - that would result in using `RawCodecPlugin` which you probably do not want.

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

◆ loadCodecs()

void image_transport_codecs::ImageTransportCodecs::loadCodecs ( )

protected

Load all codecs available via pluginlib. This function can be called multiple times without negative performance impact - the loading is only done for the first time.

◆ parseTransport()

std::string image_transport_codecs::ImageTransportCodecs::parseTransport ( const std::string & topicOrCodec ) const

protected

Parse the name of the codec from a topic.

Parameters

[in] topicOrCodec Either the output of a codec's getTransportName(), or name of an image topic.

Returns: Name of the codec, or empty string if not found.

Member Data Documentation

◆ codecs

std::unordered_map<std::string, ImageTransportCodecPlugin::ConstPtr> image_transport_codecs::ImageTransportCodecs::codecs

protected

Loaded codecs.

Definition at line 468 of file image_transport_codecs.h.

◆ loader

std::unique_ptr<pluginlib::ClassLoader<ImageTransportCodecPlugin> > image_transport_codecs::ImageTransportCodecs::loader

protected

Pluginlib loader of codecs.

Definition at line 467 of file image_transport_codecs.h.

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

image_transport_codecs.h

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ ImageTransportCodecs()

◆ ~ImageTransportCodecs()

Member Function Documentation

◆ addCodec()

◆ decode() [1/5]

◆ decode() [2/5]

◆ decode() [3/5]

◆ decode() [4/5]

◆ decode() [5/5]

◆ decodeTyped() [1/5]

◆ decodeTyped() [2/5]

◆ decodeTyped() [3/5]

◆ decodeTyped() [4/5]

◆ decodeTyped() [5/5]

◆ encode() [1/5]

◆ encode() [2/5]

◆ encode() [3/5]

◆ encode() [4/5]

◆ encode() [5/5]

◆ encodeTyped() [1/5]

◆ encodeTyped() [2/5]

◆ encodeTyped() [3/5]

◆ encodeTyped() [4/5]

◆ encodeTyped() [5/5]

◆ getCompressedImageContent() [1/2]

◆ getCompressedImageContent() [2/2]

◆ loadCodecs()

◆ parseTransport()

Member Data Documentation

◆ codecs

◆ loader