.. _program_listing_file_include_image_proc_utils.hpp:

Program Listing for File utils.hpp
==================================

|exhale_lsh| :ref:`Return to documentation for file <file_include_image_proc_utils.hpp>` (``include/image_proc/utils.hpp``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   // Copyright 2023 Willow Garage, Inc., Michal Wojcik
   // All rights reserved.
   //
   // Software License Agreement (BSD License 2.0)
   //
   // Redistribution and use in source and binary forms, with or without
   // modification, are permitted provided that the following conditions
   // are met:
   //
   // * Redistributions of source code must retain the above copyright
   //   notice, this list of conditions and the following disclaimer.
   // * Redistributions in binary form must reproduce the above
   //   copyright notice, this list of conditions and the following
   //   disclaimer in the documentation and/or other materials provided
   //   with the distribution.
   // * Neither the name of {copyright_holder} nor the names of its
   //   contributors may be used to endorse or promote products derived
   //   from this software without specific prior written permission.
   //
   // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
   // "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
   // LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
   // FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
   // COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
   // INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
   // BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
   // LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
   // CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
   // LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
   // ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
   // POSSIBILITY OF SUCH DAMAGE.
   
   #ifndef IMAGE_PROC__UTILS_HPP_
   #define IMAGE_PROC__UTILS_HPP_
   
   #include <string>
   
   #include <rclcpp/rclcpp.hpp>
   
   namespace image_proc
   {
   
   rmw_qos_profile_t getTopicQosProfile(rclcpp::Node * node, const std::string & topic)
   {
     std::string topic_resolved = node->get_node_base_interface()->resolve_topic_or_service_name(
       topic, false);
     auto topics_info = node->get_publishers_info_by_topic(topic_resolved);
     if (topics_info.size()) {
       auto profile = topics_info[0].qos_profile().get_rmw_qos_profile();
       profile.history = rmw_qos_profile_sensor_data.history;
       profile.depth = rmw_qos_profile_sensor_data.depth;
       return profile;
     } else {
       return rmw_qos_profile_sensor_data;
     }
   }
   
   }  // namespace image_proc
   
   #endif  // IMAGE_PROC__UTILS_HPP_