Class ImagePublisher

Inheritance Relationships

Base Type

Class Documentation

class ImagePublisher : public rc::GenICam2RosPublisher

Public Functions

ImagePublisher(rclcpp::Node *node, const std::string &frame_id, bool left, bool color, bool out1_filter)
virtual bool used() override

Returns true if there are subscribers to the topic.

Returns:

True if there are subscribers.

virtual void requiresComponents(int &components, bool &color) override

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.

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

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).