.. _program_listing_file__tmp_ws_src_image_common_image_transport_include_image_transport_image_transport.hpp:

Program Listing for File image_transport.hpp
============================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_image_common_image_transport_include_image_transport_image_transport.hpp>` (``/tmp/ws/src/image_common/image_transport/include/image_transport/image_transport.hpp``)

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

.. code-block:: cpp

   // Copyright (c) 2009, Willow Garage, Inc.
   //
   // 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 the Willow Garage 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 HOLDER 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_TRANSPORT__IMAGE_TRANSPORT_HPP_
   #define IMAGE_TRANSPORT__IMAGE_TRANSPORT_HPP_
   
   #include <functional>
   #include <memory>
   #include <string>
   #include <vector>
   
   #include "rclcpp/node.hpp"
   
   #include "image_transport/camera_publisher.hpp"
   #include "image_transport/camera_subscriber.hpp"
   #include "image_transport/publisher.hpp"
   #include "image_transport/subscriber.hpp"
   #include "image_transport/transport_hints.hpp"
   #include "image_transport/visibility_control.hpp"
   
   namespace image_transport
   {
   
   IMAGE_TRANSPORT_PUBLIC
   Publisher create_publisher(
     rclcpp::Node * node,
     const std::string & base_topic,
     rmw_qos_profile_t custom_qos = rmw_qos_profile_default,
     rclcpp::PublisherOptions options = rclcpp::PublisherOptions());
   
   IMAGE_TRANSPORT_PUBLIC
   Subscriber create_subscription(
     rclcpp::Node * node,
     const std::string & base_topic,
     const Subscriber::Callback & callback,
     const std::string & transport,
     rmw_qos_profile_t custom_qos = rmw_qos_profile_default,
     rclcpp::SubscriptionOptions options = rclcpp::SubscriptionOptions());
   
   IMAGE_TRANSPORT_PUBLIC
   CameraPublisher create_camera_publisher(
     rclcpp::Node * node,
     const std::string & base_topic,
     rmw_qos_profile_t custom_qos = rmw_qos_profile_default);
   
   IMAGE_TRANSPORT_PUBLIC
   CameraSubscriber create_camera_subscription(
     rclcpp::Node * node,
     const std::string & base_topic,
     const CameraSubscriber::Callback & callback,
     const std::string & transport,
     rmw_qos_profile_t custom_qos = rmw_qos_profile_default);
   
   IMAGE_TRANSPORT_PUBLIC
   std::vector<std::string> getDeclaredTransports();
   
   IMAGE_TRANSPORT_PUBLIC
   std::vector<std::string> getLoadableTransports();
   
   class ImageTransport
   {
   public:
     using VoidPtr = std::shared_ptr<void>;
     using ImageConstPtr = sensor_msgs::msg::Image::ConstSharedPtr;
     using CameraInfoConstPtr = sensor_msgs::msg::CameraInfo::ConstSharedPtr;
   
     IMAGE_TRANSPORT_PUBLIC
     explicit ImageTransport(rclcpp::Node::SharedPtr node);
   
     IMAGE_TRANSPORT_PUBLIC
     ~ImageTransport();
   
     IMAGE_TRANSPORT_PUBLIC
     Publisher advertise(const std::string & base_topic, uint32_t queue_size, bool latch = false);
   
     /* TODO(ros2) Implement when SubscriberStatusCallback is available
      * 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);
      */
   
     IMAGE_TRANSPORT_PUBLIC
     Subscriber subscribe(
       const std::string & base_topic, uint32_t queue_size,
       const Subscriber::Callback & callback,
       const VoidPtr & tracked_object = VoidPtr(),
       const TransportHints * transport_hints = nullptr);
   
     IMAGE_TRANSPORT_PUBLIC
     Subscriber subscribe(
       const std::string & base_topic, uint32_t queue_size,
       const Subscriber::Callback & callback,
       const VoidPtr & tracked_object,
       const TransportHints * transport_hints,
       const rclcpp::SubscriptionOptions options);
   
     IMAGE_TRANSPORT_PUBLIC
     Subscriber subscribe(
       const std::string & base_topic, uint32_t queue_size,
       void (* fp)(const ImageConstPtr &),
       const TransportHints * transport_hints = nullptr)
     {
       return subscribe(
         base_topic, queue_size,
         std::function<void(const ImageConstPtr &)>(fp),
         VoidPtr(), transport_hints, rclcpp::SubscriptionOptions());
     }
   
     IMAGE_TRANSPORT_PUBLIC
     Subscriber subscribe(
       const std::string & base_topic, uint32_t queue_size,
       void (* fp)(const ImageConstPtr &),
       const TransportHints * transport_hints,
       const rclcpp::SubscriptionOptions options)
     {
       return subscribe(
         base_topic, queue_size,
         std::function<void(const ImageConstPtr &)>(fp),
         VoidPtr(), transport_hints, options);
     }
   
     template<class T>
     Subscriber subscribe(
       const std::string & base_topic, uint32_t queue_size,
       void (T::* fp)(const ImageConstPtr &), T * obj,
       const TransportHints * transport_hints = nullptr)
     {
       return subscribe(
         base_topic, queue_size, std::bind(fp, obj, std::placeholders::_1),
         VoidPtr(), transport_hints);
     }
   
     template<class T>
     Subscriber subscribe(
       const std::string & base_topic, uint32_t queue_size,
       void (T::* fp)(const ImageConstPtr &), T * obj,
       const TransportHints * transport_hints,
       const rclcpp::SubscriptionOptions options)
     {
       return subscribe(
         base_topic, queue_size, std::bind(fp, obj, std::placeholders::_1),
         VoidPtr(), transport_hints, options);
     }
   
     template<class T>
     Subscriber subscribe(
       const std::string & base_topic, uint32_t queue_size,
       void (T::* fp)(const ImageConstPtr &),
       const std::shared_ptr<T> & obj,
       const TransportHints * transport_hints = nullptr)
     {
       return subscribe(
         base_topic, queue_size, std::bind(fp, obj.get(), std::placeholders::_1),
         obj, transport_hints);
     }
   
     template<class T>
     Subscriber subscribe(
       const std::string & base_topic, uint32_t queue_size,
       void (T::* fp)(const ImageConstPtr &),
       const std::shared_ptr<T> & obj,
       const TransportHints * transport_hints,
       const rclcpp::SubscriptionOptions options)
     {
       return subscribe(
         base_topic, queue_size, std::bind(fp, obj.get(), std::placeholders::_1),
         obj, transport_hints, options);
     }
   
     IMAGE_TRANSPORT_PUBLIC
     CameraPublisher advertiseCamera(
       const std::string & base_topic, uint32_t queue_size,
       bool latch = false);
   
     /* TODO(ros2) Implement when SubscriberStatusCallback is available
      * 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);
      */
   
     IMAGE_TRANSPORT_PUBLIC
     CameraSubscriber subscribeCamera(
       const std::string & base_topic, uint32_t queue_size,
       const CameraSubscriber::Callback & callback,
       const VoidPtr & tracked_object = VoidPtr(),
       const TransportHints * transport_hints = nullptr);
   
     IMAGE_TRANSPORT_PUBLIC
     CameraSubscriber subscribeCamera(
       const std::string & base_topic, uint32_t queue_size,
       void (* fp)(
         const ImageConstPtr &,
         const CameraInfoConstPtr &),
       const TransportHints * transport_hints = nullptr)
     {
       return subscribeCamera(
         base_topic, queue_size, CameraSubscriber::Callback(fp), VoidPtr(),
         transport_hints);
     }
   
     template<class T>
     CameraSubscriber subscribeCamera(
       const std::string & base_topic, uint32_t queue_size,
       void (T::* fp)(
         const ImageConstPtr &,
         const CameraInfoConstPtr &), T * obj,
       const TransportHints * transport_hints = nullptr)
     {
       return subscribeCamera(
         base_topic, queue_size,
         std::bind(fp, obj, std::placeholders::_1, std::placeholders::_2), VoidPtr(),
         transport_hints);
     }
   
     template<class T>
     CameraSubscriber subscribeCamera(
       const std::string & base_topic, uint32_t queue_size,
       void (T::* fp)(
         const ImageConstPtr &,
         const CameraInfoConstPtr &),
       const std::shared_ptr<T> & obj,
       const TransportHints * transport_hints = nullptr)
     {
       return subscribeCamera(
         base_topic, queue_size,
         std::bind(fp, obj.get(), std::placeholders::_1, std::placeholders::_2), obj,
         transport_hints);
     }
   
   
     IMAGE_TRANSPORT_PUBLIC
     std::vector<std::string> getDeclaredTransports() const;
   
     IMAGE_TRANSPORT_PUBLIC
     std::vector<std::string> getLoadableTransports() const;
   
   private:
     std::string getTransportOrDefault(const TransportHints * transport_hints);
   
     struct Impl;
     std::unique_ptr<Impl> impl_;
   };
   
   }  // namespace image_transport
   
   #endif  // IMAGE_TRANSPORT__IMAGE_TRANSPORT_HPP_