Subscribe to ROS camera topics as data provider. More...

#include <camera_subscriber.h>

Inheritance diagram for fkie_message_filters::CameraSubscriber:

Public Member Functions
	CameraSubscriber () noexcept
	Constructs an empty subscriber. More...

	CameraSubscriber (const image_transport::ImageTransport &it, const std::string &base_topic, uint32_t queue_size, const image_transport::TransportHints &transport_hints=image_transport::TransportHints()) noexcept
	Constructor that subscribes to the given ROS camera base topic. More...

void	set_subscribe_options (const image_transport::ImageTransport &it, const std::string &base_topic, uint32_t queue_size, const image_transport::TransportHints &transport_hints=image_transport::TransportHints()) noexcept
	Configure ROS topic that is to be subscribed. More...

virtual void	subscribe ()
	Subscribe to the configured ROS topic. More...

void	subscribe (const image_transport::ImageTransport &it, const std::string &base_topic, uint32_t queue_size, const image_transport::TransportHints &transport_hints=image_transport::TransportHints()) noexcept
	Convenience function to subscribe to a ROS topic. More...

virtual void	subscribe_on_demand (PublisherBase &pub)
	Subscribe to the configured ROS topic whenever the given publisher is active. More...

virtual std::string	topic () const noexcept override
	Return the configured ROS topic. More...

virtual void	unsubscribe ()
	Unsubscribe from the configured ROS topic. More...

Public Member Functions inherited from fkie_message_filters::SubscriberBase
virtual void	subscribe ()
	Subscribe to the configured ROS topic. More...

virtual void	subscribe_on_demand (PublisherBase &pub)
	Subscribe to the configured ROS topic whenever the given publisher is active. More...

virtual void	unsubscribe ()
	Unsubscribe from the configured ROS topic. More...

virtual	~SubscriberBase ()

Public Member Functions inherited from fkie_message_filters::Source< sensor_msgs::ImageConstPtr, sensor_msgs::CameraInfoConstPtr >
Connection	connect_to_sink (Sink< Outputs... > &dst) noexcept
	Connect this source to a sink. More...

virtual void	disconnect () noexcept override
	Disconnect from all connected sinks. More...

void	disconnect_from_all_sinks () noexcept
	Disconnect from all connected sinks. More...

virtual	~Source ()

Protected Member Functions
virtual bool	is_configured () const noexcept override
	Check if the ROS subscriber is properly configured. More...

virtual void	subscribe_impl () noexcept override
	Create a ROS subscriber. More...

virtual void	unsubscribe_impl () noexcept override
	Shut the ROS subscriber down. More...

Protected Member Functions inherited from fkie_message_filters::SubscriberBase
void	link_with_publisher (PublisherBase &pub)
	Add self to the list of subscribers which are controlled by a publisher. More...

void	unlink_from_publisher ()
	Remove self from the list of subscribers which are controlled by a publisher. More...

Protected Member Functions inherited from fkie_message_filters::Source< sensor_msgs::ImageConstPtr, sensor_msgs::CameraInfoConstPtr >
void	send (const Outputs &... out)
	Pass data to all connected sinks. More...

Private Member Functions
void	cb (const sensor_msgs::ImageConstPtr &, const sensor_msgs::CameraInfoConstPtr &)

Private Attributes
std::string	base_topic_

image_transport::TransportHints	hints_

std::shared_ptr< image_transport::ImageTransport >	it_

uint32_t	queue_size_

image_transport::CameraSubscriber	sub_

Additional Inherited Members
Public Types inherited from fkie_message_filters::Source< sensor_msgs::ImageConstPtr, sensor_msgs::CameraInfoConstPtr >
using	Output = IO< Outputs... >
	Grouped output types. More...

Static Public Attributes inherited from fkie_message_filters::Source< sensor_msgs::ImageConstPtr, sensor_msgs::CameraInfoConstPtr >
static constexpr std::size_t	NUM_OUTPUTS
	Number of output arguments. More...

Detailed Description

Subscribe to ROS camera topics as data provider.

This is a specialized subscriber that uses image_transport to subscribe to ROS camera topics. All messages which are received on the subscribed topics will be passed to the connected sinks for further processing.

Unlike regular ROS subscribers, this class can be associated with a publisher instance. In that case, the subscriber will delay subscription until the publisher is actively used and will unsubscribe (and stop passing data) as soon as the publisher becomes idle. This is a convenient method to save processing power if the filter pipeline is used only intermittently.

See also: CameraPublisher, ImageSubscriber, Subscriber

Definition at line 62 of file camera_subscriber.h.

Constructor & Destructor Documentation

◆ CameraSubscriber() [1/2]

fkie_message_filters::CameraSubscriber::CameraSubscriber ( )

inlinenoexcept

Constructs an empty subscriber.

You need to call set_subscribe_options() and either subscribe() or subscribe_on_demand() to actually subscribe to a ROS topic.

Definition at line 87 of file camera_subscriber.h.

◆ CameraSubscriber() [2/2]

fkie_message_filters::CameraSubscriber::CameraSubscriber	(	const image_transport::ImageTransport &	it,
		const std::string &	base_topic,
		uint32_t	queue_size,
		const image_transport::TransportHints &	transport_hints = `image_transport::TransportHints()`
	)

noexcept

Constructor that subscribes to the given ROS camera base topic.

This constructor calls set_subscribe_options() and subscribe() for you.

it ROS image_transport instance to handle the subscription
base_topic name of the ROS camera base topic, subject to remapping
queue_size size of the ROS subscription queue
transport_hints transport hints for the ROS image_transport framework

\nothrow

Definition at line 44 of file camera_subscriber.cpp.

Member Function Documentation

◆ cb()

void fkie_message_filters::CameraSubscriber::cb	(	const sensor_msgs::ImageConstPtr &	img,
		const sensor_msgs::CameraInfoConstPtr &	info
	)

private

Definition at line 94 of file camera_subscriber.cpp.

◆ is_configured()

bool fkie_message_filters::CameraSubscriber::is_configured ( ) const

overrideprotectedvirtualnoexcept

Check if the ROS subscriber is properly configured.

\nothrow

Implements fkie_message_filters::SubscriberBase.

Definition at line 69 of file camera_subscriber.cpp.

◆ set_subscribe_options()

void fkie_message_filters::CameraSubscriber::set_subscribe_options	(	const image_transport::ImageTransport &	it,
		const std::string &	base_topic,
		uint32_t	queue_size,
		const image_transport::TransportHints &	transport_hints = `image_transport::TransportHints()`
	)

noexcept

Configure ROS topic that is to be subscribed.

All arguments are passed to the ROS client library; see the ROS documentation for further information. Calling this method will automatically unsubscribe any previously subscribed ROS topic.

it ROS image_transport instance to handle the subscription
base_topic name of the ROS camera base topic, subject to remapping
queue_size size of the ROS subscription queue
transport_hints transport hints for the ROS image_transport framework

\nothrow

Definition at line 50 of file camera_subscriber.cpp.

◆ subscribe() [1/2]

void fkie_message_filters::SubscriberBase::subscribe

Subscribe to the configured ROS topic.

This method does nothing if no ROS topic was configured or if the subscriber is subscribed already. Cancels the effect of subscribe_on_demand(), i.e. the subscriber will remain subscribed permanently.

\implthrow

Definition at line 64 of file publisher_subscriber_base.cpp.

◆ subscribe() [2/2]

void fkie_message_filters::CameraSubscriber::subscribe	(	const image_transport::ImageTransport &	it,
		const std::string &	base_topic,
		uint32_t	queue_size,
		const image_transport::TransportHints &	transport_hints = `image_transport::TransportHints()`
	)

noexcept

Convenience function to subscribe to a ROS topic.

This function is equivalent to calling set_subscribe_options() and then subscribe().

it ROS image_transport instance to handle the subscription
base_topic name of the ROS camera base topic, subject to remapping
queue_size size of the ROS subscription queue
transport_hints transport hints for the ROS image_transport framework

\nothrow

Definition at line 58 of file camera_subscriber.cpp.

◆ subscribe_impl()

void fkie_message_filters::CameraSubscriber::subscribe_impl ( )

overrideprotectedvirtualnoexcept

Create a ROS subscriber.

\nothrow

Implements fkie_message_filters::SubscriberBase.

Definition at line 74 of file camera_subscriber.cpp.

◆ subscribe_on_demand()

void fkie_message_filters::SubscriberBase::subscribe_on_demand

Subscribe to the configured ROS topic whenever the given publisher is active.

This method does nothing if no ROS topic was configured. Otherwise, it will immediately subscribe or unsubscribe depending on the publisher's current state. If the publisher becomes active or inactive, the subscriber's state will update accordingly.

pub publisher

\implthrow

Definition at line 76 of file publisher_subscriber_base.cpp.

◆ topic()

std::string fkie_message_filters::CameraSubscriber::topic ( ) const

overridevirtualnoexcept

Return the configured ROS topic.

\nothrow

Implements fkie_message_filters::SubscriberBase.

Definition at line 64 of file camera_subscriber.cpp.

◆ unsubscribe()

void fkie_message_filters::SubscriberBase::unsubscribe

Unsubscribe from the configured ROS topic.

You can call subscribe() afterwards to re-subscribe to the ROS topic. This method does nothing if the subscriber is not subscribed to any ROS topic. Cancels the effect of subscribe_on_demand(), i.e. the subscriber will remain unsubscribed permanently.

\implthrow

Definition at line 70 of file publisher_subscriber_base.cpp.

◆ unsubscribe_impl()

void fkie_message_filters::CameraSubscriber::unsubscribe_impl ( )

overrideprotectedvirtualnoexcept

Shut the ROS subscriber down.

\nothrow

Implements fkie_message_filters::SubscriberBase.

Definition at line 89 of file camera_subscriber.cpp.

Member Data Documentation

◆ base_topic_

std::string fkie_message_filters::CameraSubscriber::base_topic_

private

Definition at line 153 of file camera_subscriber.h.

◆ hints_

image_transport::TransportHints fkie_message_filters::CameraSubscriber::hints_

private

Definition at line 155 of file camera_subscriber.h.

◆ it_

std::shared_ptr<image_transport::ImageTransport> fkie_message_filters::CameraSubscriber::it_

private

Definition at line 152 of file camera_subscriber.h.

◆ queue_size_

uint32_t fkie_message_filters::CameraSubscriber::queue_size_

private

Definition at line 154 of file camera_subscriber.h.

◆ sub_

image_transport::CameraSubscriber fkie_message_filters::CameraSubscriber::sub_

private

Definition at line 156 of file camera_subscriber.h.

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

Public Member Functions

Protected Member Functions

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ CameraSubscriber() [1/2]

◆ CameraSubscriber() [2/2]

Member Function Documentation

◆ cb()

◆ is_configured()

◆ set_subscribe_options()

◆ subscribe() [1/2]

◆ subscribe() [2/2]

◆ subscribe_impl()

◆ subscribe_on_demand()

◆ topic()

◆ unsubscribe()

◆ unsubscribe_impl()

Member Data Documentation

◆ base_topic_

◆ hints_

◆ it_

◆ queue_size_

◆ sub_