rc::GenICam2RosPublisher Class Reference

Interface for all publishers relating to images, point clouds or other stereo-camera data. More...

#include <genicam2ros_publisher.h>

Inheritance diagram for rc::GenICam2RosPublisher:

Public Member Functions
void	clearNodemap ()
	Clear nodemap. More...
	GenICam2RosPublisher (const std::string &_frame_id)
virtual void	publish (const rcg::Buffer *buffer, uint32_t part, uint64_t pixelformat)=0
	Offers a buffer for publication. More...
virtual void	requiresComponents (int &components, bool &color)=0
	Adds components and if color images are required to the given values. More...
void	setNodemap (const std::shared_ptr< GenApi::CNodeMapRef > &_nodemap)
	Set nodemap to be used. More...
void	subChanged (const ros::SingleSubscriberPublisher &pub)
	Called by publisher if subscription changed. More...
void	subChangedIt (const image_transport::SingleSubscriberPublisher &pub)
	Called by publisher if subscription changed. More...
virtual bool	used ()=0
	Returns true if there are subscribers to the topic. More...
virtual	~GenICam2RosPublisher ()

Static Public Attributes
static const int	ComponentConfidence = 8
static const int	ComponentDisparity = 4
static const int	ComponentError = 16
static const int	ComponentIntensity = 1
static const int	ComponentIntensityCombined = 2

Protected Attributes
std::string	frame_id
std::shared_ptr< GenApi::CNodeMapRef >	nodemap
std::function< void()>	sub_callback

Private Member Functions
GenICam2RosPublisher &	operator= (const GenICam2RosPublisher &)

Detailed Description

Interface for all publishers relating to images, point clouds or other stereo-camera data.

Definition at line 53 of file genicam2ros_publisher.h.

Constructor & Destructor Documentation

rc::GenICam2RosPublisher::GenICam2RosPublisher ( const std::string &  _frame_id )

inline

Parameters

frame_id_prefix

prefix for frame ids in published ros messages

Definition at line 70 of file genicam2ros_publisher.h.

virtual rc::GenICam2RosPublisher::~GenICam2RosPublisher ( )

inlinevirtual

Definition at line 74 of file genicam2ros_publisher.h.

Member Function Documentation

void rc::GenICam2RosPublisher::clearNodemap ( )

inline

Clear nodemap.

Definition at line 91 of file genicam2ros_publisher.h.

GenICam2RosPublisher& rc::GenICam2RosPublisher::operator= ( const GenICam2RosPublisher &  )

private

virtual void rc::GenICam2RosPublisher::publish ( const rcg::Buffer *  buffer, uint32_t  part, uint64_t  pixelformat  )

pure virtual

Offers a buffer for publication.

It depends on the the kind of buffer data and the implementation and configuration of the sub-class if the data is published.

Parameters

buffer	Buffer with data to be published. The buffer is already attached to the nodemap for accessing the chunk data.
part	Part index of image.
pixelformat	The pixelformat as given by buffer->getPixelFormat(part).

Implemented in rc::CameraInfoPublisher, rc::DisparityColorPublisher, rc::DisparityPublisher, rc::ErrorDepthPublisher, rc::ErrorDisparityPublisher, rc::ImagePublisher, rc::Points2Publisher, rc::CameraParamPublisher, rc::ConfidencePublisher, and rc::DepthPublisher.

virtual void rc::GenICam2RosPublisher::requiresComponents ( int &  components, bool &  color  )

pure virtual

Adds components and if color images are required to the given values.

Nothing will be changed if there are no subscribers, i.e. used() == false.

Parameters

components	Components Flags that will be updated according to the needs of this publisher.
color	Value that will be updated if this publisher needs color.

Implemented in rc::CameraInfoPublisher, rc::DisparityColorPublisher, rc::DisparityPublisher, rc::ErrorDepthPublisher, rc::ErrorDisparityPublisher, rc::ImagePublisher, rc::Points2Publisher, rc::CameraParamPublisher, rc::ConfidencePublisher, and rc::DepthPublisher.

void rc::GenICam2RosPublisher::setNodemap ( const std::shared_ptr< GenApi::CNodeMapRef > &  _nodemap )

inline

Set nodemap to be used.

Definition at line 82 of file genicam2ros_publisher.h.

void rc::GenICam2RosPublisher::subChanged ( const ros::SingleSubscriberPublisher &  pub )

inline

Called by publisher if subscription changed.

Definition at line 133 of file genicam2ros_publisher.h.

void rc::GenICam2RosPublisher::subChangedIt ( const image_transport::SingleSubscriberPublisher &  pub )

inline

Called by publisher if subscription changed.

Definition at line 145 of file genicam2ros_publisher.h.

virtual bool rc::GenICam2RosPublisher::used ( )

pure virtual

Returns true if there are subscribers to the topic.

Returns

True if there are subscribers.

Implemented in rc::CameraInfoPublisher, rc::DisparityColorPublisher, rc::DisparityPublisher, rc::ErrorDepthPublisher, rc::ErrorDisparityPublisher, rc::ImagePublisher, rc::Points2Publisher, rc::CameraParamPublisher, rc::ConfidencePublisher, and rc::DepthPublisher.

Member Data Documentation

const int rc::GenICam2RosPublisher::ComponentConfidence = 8

static

Definition at line 63 of file genicam2ros_publisher.h.

const int rc::GenICam2RosPublisher::ComponentDisparity = 4

static

Definition at line 62 of file genicam2ros_publisher.h.

const int rc::GenICam2RosPublisher::ComponentError = 16

static

Definition at line 64 of file genicam2ros_publisher.h.

const int rc::GenICam2RosPublisher::ComponentIntensity = 1

static

Definition at line 60 of file genicam2ros_publisher.h.

const int rc::GenICam2RosPublisher::ComponentIntensityCombined = 2

static

Definition at line 61 of file genicam2ros_publisher.h.

std::string rc::GenICam2RosPublisher::frame_id

protected

Definition at line 154 of file genicam2ros_publisher.h.

std::shared_ptr<GenApi::CNodeMapRef> rc::GenICam2RosPublisher::nodemap

protected

Definition at line 156 of file genicam2ros_publisher.h.

std::function<void()> rc::GenICam2RosPublisher::sub_callback

protected

Definition at line 155 of file genicam2ros_publisher.h.

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

• genicam2ros_publisher.h