image_transport::ImageTransport Class Reference

Advertise and subscribe to image topics. More...

#include <image_transport.h>

List of all members.

Classes
struct	Impl
Public Member Functions
Publisher	advertise (const std::string &base_topic, uint32_t queue_size, bool latch=false)
	Advertise an image topic, simple version.
Publisher	advertise (const std::string &base_topic, uint32_t queue_size, const SubscriberStatusCallback &connect_cb, const SubscriberStatusCallback &disconnect_cb=SubscriberStatusCallback(), const ros::VoidPtr &tracked_object=ros::VoidPtr(), bool latch=false)
	Advertise an image topic with subcriber status callbacks.
CameraPublisher	advertiseCamera (const std::string &base_topic, uint32_t queue_size, bool latch=false)
	Advertise a synchronized camera raw image + info topic pair, simple version.
CameraPublisher	advertiseCamera (const std::string &base_topic, uint32_t queue_size, const SubscriberStatusCallback &image_connect_cb, const SubscriberStatusCallback &image_disconnect_cb=SubscriberStatusCallback(), const ros::SubscriberStatusCallback &info_connect_cb=ros::SubscriberStatusCallback(), const ros::SubscriberStatusCallback &info_disconnect_cb=ros::SubscriberStatusCallback(), const ros::VoidPtr &tracked_object=ros::VoidPtr(), bool latch=false)
	Advertise a synchronized camera raw image + info topic pair with subscriber status callbacks.
std::vector< std::string >	getDeclaredTransports () const
	Returns the names of all transports declared in the system. Declared transports are not necessarily built or loadable.
std::vector< std::string >	getLoadableTransports () const
	Returns the names of all transports that are loadable in the system.
	ImageTransport (const ros::NodeHandle &nh)
Subscriber	subscribe (const std::string &base_topic, uint32_t queue_size, const boost::function< void(const sensor_msgs::ImageConstPtr &)> &callback, const ros::VoidPtr &tracked_object=ros::VoidPtr(), const TransportHints &transport_hints=TransportHints())
	Subscribe to an image topic, version for arbitrary boost::function object.
Subscriber	subscribe (const std::string &base_topic, uint32_t queue_size, void(*fp)(const sensor_msgs::ImageConstPtr &), const TransportHints &transport_hints=TransportHints())
	Subscribe to an image topic, version for bare function.
template<class T >
Subscriber	subscribe (const std::string &base_topic, uint32_t queue_size, void(T::*fp)(const sensor_msgs::ImageConstPtr &), T *obj, const TransportHints &transport_hints=TransportHints())
	Subscribe to an image topic, version for class member function with bare pointer.
template<class T >
Subscriber	subscribe (const std::string &base_topic, uint32_t queue_size, void(T::*fp)(const sensor_msgs::ImageConstPtr &), const boost::shared_ptr< T > &obj, const TransportHints &transport_hints=TransportHints())
	Subscribe to an image topic, version for class member function with shared_ptr.
CameraSubscriber	subscribeCamera (const std::string &base_topic, uint32_t queue_size, const CameraSubscriber::Callback &callback, const ros::VoidPtr &tracked_object=ros::VoidPtr(), const TransportHints &transport_hints=TransportHints())
	Subscribe to a synchronized image & camera info topic pair, version for arbitrary boost::function object.
CameraSubscriber	subscribeCamera (const std::string &base_topic, uint32_t queue_size, void(*fp)(const sensor_msgs::ImageConstPtr &, const sensor_msgs::CameraInfoConstPtr &), const TransportHints &transport_hints=TransportHints())
	Subscribe to a synchronized image & camera info topic pair, version for bare function.
template<class T >
CameraSubscriber	subscribeCamera (const std::string &base_topic, uint32_t queue_size, void(T::*fp)(const sensor_msgs::ImageConstPtr &, const sensor_msgs::CameraInfoConstPtr &), T *obj, const TransportHints &transport_hints=TransportHints())
	Subscribe to a synchronized image & camera info topic pair, version for class member function with bare pointer.
template<class T >
CameraSubscriber	subscribeCamera (const std::string &base_topic, uint32_t queue_size, void(T::*fp)(const sensor_msgs::ImageConstPtr &, const sensor_msgs::CameraInfoConstPtr &), const boost::shared_ptr< T > &obj, const TransportHints &transport_hints=TransportHints())
	Subscribe to a synchronized image & camera info topic pair, version for class member function with shared_ptr.
	~ImageTransport ()
Private Types
typedef boost::shared_ptr< Impl >	ImplPtr
typedef boost::weak_ptr< Impl >	ImplWPtr
Private Attributes
ImplPtr	impl_

---

Detailed Description

Advertise and subscribe to image topics.

ImageTransport is analogous to ros::NodeHandle in that it contains advertise() and subscribe() functions for creating advertisements and subscriptions of image topics.

Definition at line 51 of file image_transport.h.

---

Member Typedef Documentation

typedef boost::shared_ptr<Impl> image_transport::ImageTransport::ImplPtr [private]

Definition at line 195 of file image_transport.h.

typedef boost::weak_ptr<Impl> image_transport::ImageTransport::ImplWPtr [private]

Definition at line 197 of file image_transport.h.

---

Constructor & Destructor Documentation

image_transport::ImageTransport::ImageTransport

(

const ros::NodeHandle &

nh

)

[explicit]

Definition at line 59 of file image_transport.cpp.

image_transport::ImageTransport::~ImageTransport

(

)

Definition at line 64 of file image_transport.cpp.

---

Member Function Documentation

Publisher image_transport::ImageTransport::advertise	(	const std::string &	base_topic,
		uint32_t	queue_size,
		bool	latch = false
	)

Advertise an image topic, simple version.

Definition at line 68 of file image_transport.cpp.

Publisher image_transport::ImageTransport::advertise	(	const std::string &	base_topic,
		uint32_t	queue_size,
		const SubscriberStatusCallback &	connect_cb,
		const SubscriberStatusCallback &	disconnect_cb = SubscriberStatusCallback(),
		const ros::VoidPtr &	tracked_object = ros::VoidPtr(),
		bool	latch = false
	)

Advertise an image topic with subcriber status callbacks.

Definition at line 74 of file image_transport.cpp.

CameraPublisher image_transport::ImageTransport::advertiseCamera	(	const std::string &	base_topic,
		uint32_t	queue_size,
		bool	latch = false
	)

Advertise a synchronized camera raw image + info topic pair, simple version.

Definition at line 89 of file image_transport.cpp.

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

Advertise a synchronized camera raw image + info topic pair with subscriber status callbacks.

Definition at line 97 of file image_transport.cpp.

std::vector< std::string > image_transport::ImageTransport::getDeclaredTransports

(

)

const

Returns the names of all transports declared in the system. Declared transports are not necessarily built or loadable.

Definition at line 116 of file image_transport.cpp.

std::vector< std::string > image_transport::ImageTransport::getLoadableTransports

(

)

const

Returns the names of all transports that are loadable in the system.

Definition at line 126 of file image_transport.cpp.

Subscriber image_transport::ImageTransport::subscribe	(	const std::string &	base_topic,
		uint32_t	queue_size,
		const boost::function< void(const sensor_msgs::ImageConstPtr &)> &	callback,
		const ros::VoidPtr &	tracked_object = ros::VoidPtr(),
		const TransportHints &	transport_hints = TransportHints()
	)

Subscribe to an image topic, version for arbitrary boost::function object.

Definition at line 82 of file image_transport.cpp.

Subscriber image_transport::ImageTransport::subscribe	(	const std::string &	base_topic,
		uint32_t	queue_size,
		void(*)(const sensor_msgs::ImageConstPtr &)	fp,
		const TransportHints &	transport_hints = TransportHints()
	)		[inline]

Subscribe to an image topic, version for bare function.

Definition at line 82 of file image_transport.h.

template<class T >

Subscriber image_transport::ImageTransport::subscribe	(	const std::string &	base_topic,
		uint32_t	queue_size,
		void(T::*)(const sensor_msgs::ImageConstPtr &)	fp,
		T *	obj,
		const TransportHints &	transport_hints = TransportHints()
	)		[inline]

Subscribe to an image topic, version for class member function with bare pointer.

Definition at line 95 of file image_transport.h.

template<class T >

Subscriber image_transport::ImageTransport::subscribe	(	const std::string &	base_topic,
		uint32_t	queue_size,
		void(T::*)(const sensor_msgs::ImageConstPtr &)	fp,
		const boost::shared_ptr< T > &	obj,
		const TransportHints &	transport_hints = TransportHints()
	)		[inline]

Subscribe to an image topic, version for class member function with shared_ptr.

Definition at line 106 of file image_transport.h.

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

Subscribe to a synchronized image & camera info topic pair, version for arbitrary boost::function object.

This version assumes the standard topic naming scheme, where the info topic is named "camera_info" in the same namespace as the base image topic.

Definition at line 108 of file image_transport.cpp.

CameraSubscriber image_transport::ImageTransport::subscribeCamera	(	const std::string &	base_topic,
		uint32_t	queue_size,
		void(*)(const sensor_msgs::ImageConstPtr &, const sensor_msgs::CameraInfoConstPtr &)	fp,
		const TransportHints &	transport_hints = TransportHints()
	)		[inline]

Subscribe to a synchronized image & camera info topic pair, version for bare function.

Definition at line 145 of file image_transport.h.

template<class T >

CameraSubscriber image_transport::ImageTransport::subscribeCamera	(	const std::string &	base_topic,
		uint32_t	queue_size,
		void(T::*)(const sensor_msgs::ImageConstPtr &, const sensor_msgs::CameraInfoConstPtr &)	fp,
		T *	obj,
		const TransportHints &	transport_hints = TransportHints()
	)		[inline]

Subscribe to a synchronized image & camera info topic pair, version for class member function with bare pointer.

Definition at line 159 of file image_transport.h.

template<class T >

CameraSubscriber image_transport::ImageTransport::subscribeCamera	(	const std::string &	base_topic,
		uint32_t	queue_size,
		void(T::*)(const sensor_msgs::ImageConstPtr &, const sensor_msgs::CameraInfoConstPtr &)	fp,
		const boost::shared_ptr< T > &	obj,
		const TransportHints &	transport_hints = TransportHints()
	)		[inline]

Subscribe to a synchronized image & camera info topic pair, version for class member function with shared_ptr.

Definition at line 173 of file image_transport.h.

---

Member Data Documentation

ImplPtr image_transport::ImageTransport::impl_ [private]

Definition at line 199 of file image_transport.h.

---

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

• image_transport.h
• image_transport.cpp