Program Listing for File point_cloud_codec.hpp

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// Copyright (c) 2023, Czech Technical University in Prague
// Copyright (c) 2019, paplhjak
// Copyright (c) 2009, Willow Garage, Inc.
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#ifndef POINT_CLOUD_TRANSPORT__POINT_CLOUD_CODEC_HPP_
#define POINT_CLOUD_TRANSPORT__POINT_CLOUD_CODEC_HPP_

#include <memory>
#include <string>
#include <vector>

#include <pluginlib/class_loader.hpp>
#include <pluginlib/exceptions.hpp>

#include <sensor_msgs/msg/point_cloud2.hpp>

#include <point_cloud_transport/loader_fwds.hpp>
#include <point_cloud_transport/publisher_plugin.hpp>
#include <point_cloud_transport/subscriber_plugin.hpp>
#include "point_cloud_transport/visibility_control.hpp"

namespace point_cloud_transport
{


class PointCloudCodec
{
public:
  POINT_CLOUD_TRANSPORT_PUBLIC
  PointCloudCodec();

  POINT_CLOUD_TRANSPORT_PUBLIC
  virtual ~PointCloudCodec();

  POINT_CLOUD_TRANSPORT_PUBLIC
  std::shared_ptr<point_cloud_transport::PublisherPlugin> getEncoderByName(
    const std::string & name);

  POINT_CLOUD_TRANSPORT_PUBLIC
  std::shared_ptr<point_cloud_transport::SubscriberPlugin> getDecoderByName(
    const std::string & name);

  POINT_CLOUD_TRANSPORT_PUBLIC
  void getLoadableTransports(
    std::vector<std::string> & transports,
    std::vector<std::string> & names);

  POINT_CLOUD_TRANSPORT_PUBLIC
  void getTopicsToPublish(
    const std::string & baseTopic,
    std::vector<std::string> & transports,
    std::vector<std::string> & topics,
    std::vector<std::string> & names,
    std::vector<std::string> & dataTypes);

  POINT_CLOUD_TRANSPORT_PUBLIC
  void getTopicToSubscribe(
    const std::string & baseTopic,
    const std::string & transport,
    std::string & topic,
    std::string & name,
    std::string & dataType);

  POINT_CLOUD_TRANSPORT_PUBLIC
  bool encode(
    const std::string & transport_name,
    const sensor_msgs::msg::PointCloud2 & msg,
    rclcpp::SerializedMessage & serialized_msg);

  template<class M>
  POINT_CLOUD_TRANSPORT_PUBLIC
  bool encodeTyped(
    const std::string & transport_name,
    const sensor_msgs::msg::PointCloud2 & msg,
    M & compressed_msg);

  POINT_CLOUD_TRANSPORT_PUBLIC
  bool decode(
    const std::string & transport_name,
    const rclcpp::SerializedMessage & serialized_msg,
    sensor_msgs::msg::PointCloud2 & msg);

  template<class M>
  POINT_CLOUD_TRANSPORT_PUBLIC
  bool decodeTyped(
    const std::string & transport_name,
    const M & compressed_msg,
    sensor_msgs::msg::PointCloud2 & msg);

private:
  point_cloud_transport::PubLoaderPtr enc_loader_;
  point_cloud_transport::SubLoaderPtr dec_loader_;
};

}  // namespace point_cloud_transport

#endif  // POINT_CLOUD_TRANSPORT__POINT_CLOUD_CODEC_HPP_