/usr/include/image_transport/image_transport.h is in libimage-transport-dev 1.11.10-5.
This file is owned by root:root, with mode 0o644.
The actual contents of the file can be viewed below.
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179 180 181 182 183 184 185 186 187 188 189 190 191 192 193 194 195 196 197 198 199 200 201 202 203 204 | /*********************************************************************
* Software License Agreement (BSD License)
*
* Copyright (c) 2009, Willow Garage, Inc.
* All rights reserved.
*
* 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 OWNER 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_H
#define IMAGE_TRANSPORT_IMAGE_TRANSPORT_H
#include "image_transport/publisher.h"
#include "image_transport/subscriber.h"
#include "image_transport/camera_publisher.h"
#include "image_transport/camera_subscriber.h"
namespace image_transport {
/**
* \brief Advertise and subscribe to image topics.
*
* ImageTransport is analogous to ros::NodeHandle in that it contains advertise() and
* subscribe() functions for creating advertisements and subscriptions of image topics.
*/
class ImageTransport
{
public:
explicit ImageTransport(const ros::NodeHandle& nh);
~ImageTransport();
/*!
* \brief Advertise an image topic, simple version.
*/
Publisher advertise(const std::string& base_topic, uint32_t queue_size, bool latch = false);
/*!
* \brief Advertise an image topic with subcriber status callbacks.
*/
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);
/**
* \brief Subscribe to an image topic, version for arbitrary boost::function object.
*/
Subscriber subscribe(const std::string& base_topic, uint32_t queue_size,
const boost::function<void(const sensor_msgs::ImageConstPtr&)>& callback,
const ros::VoidPtr& tracked_object = ros::VoidPtr(),
const TransportHints& transport_hints = TransportHints());
/**
* \brief Subscribe to an image topic, version for bare function.
*/
Subscriber subscribe(const std::string& base_topic, uint32_t queue_size,
void(*fp)(const sensor_msgs::ImageConstPtr&),
const TransportHints& transport_hints = TransportHints())
{
return subscribe(base_topic, queue_size,
boost::function<void(const sensor_msgs::ImageConstPtr&)>(fp),
ros::VoidPtr(), transport_hints);
}
/**
* \brief Subscribe to an image topic, version for class member function with bare pointer.
*/
template<class T>
Subscriber subscribe(const std::string& base_topic, uint32_t queue_size,
void(T::*fp)(const sensor_msgs::ImageConstPtr&), T* obj,
const TransportHints& transport_hints = TransportHints())
{
return subscribe(base_topic, queue_size, boost::bind(fp, obj, _1), ros::VoidPtr(), transport_hints);
}
/**
* \brief Subscribe to an image topic, version for class member function with shared_ptr.
*/
template<class T>
Subscriber subscribe(const std::string& base_topic, uint32_t queue_size,
void(T::*fp)(const sensor_msgs::ImageConstPtr&),
const boost::shared_ptr<T>& obj,
const TransportHints& transport_hints = TransportHints())
{
return subscribe(base_topic, queue_size, boost::bind(fp, obj.get(), _1), obj, transport_hints);
}
/*!
* \brief Advertise a synchronized camera raw image + info topic pair, simple version.
*/
CameraPublisher advertiseCamera(const std::string& base_topic, uint32_t queue_size, bool latch = false);
/*!
* \brief Advertise a synchronized camera raw image + info topic pair with subscriber status
* callbacks.
*/
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);
/**
* \brief Subscribe to a synchronized image & camera info topic pair, version for arbitrary
* boost::function object.
*
* This version assumes the standard topic naming scheme, where the info topic is
* named "camera_info" in the same namespace as the base image topic.
*/
CameraSubscriber subscribeCamera(const std::string& base_topic, uint32_t queue_size,
const CameraSubscriber::Callback& callback,
const ros::VoidPtr& tracked_object = ros::VoidPtr(),
const TransportHints& transport_hints = TransportHints());
/**
* \brief Subscribe to a synchronized image & camera info topic pair, version for bare function.
*/
CameraSubscriber subscribeCamera(const std::string& base_topic, uint32_t queue_size,
void(*fp)(const sensor_msgs::ImageConstPtr&,
const sensor_msgs::CameraInfoConstPtr&),
const TransportHints& transport_hints = TransportHints())
{
return subscribeCamera(base_topic, queue_size, CameraSubscriber::Callback(fp), ros::VoidPtr(),
transport_hints);
}
/**
* \brief Subscribe to a synchronized image & camera info topic pair, version for class member
* function with bare pointer.
*/
template<class T>
CameraSubscriber subscribeCamera(const std::string& base_topic, uint32_t queue_size,
void(T::*fp)(const sensor_msgs::ImageConstPtr&,
const sensor_msgs::CameraInfoConstPtr&), T* obj,
const TransportHints& transport_hints = TransportHints())
{
return subscribeCamera(base_topic, queue_size, boost::bind(fp, obj, _1, _2), ros::VoidPtr(),
transport_hints);
}
/**
* \brief Subscribe to a synchronized image & camera info topic pair, version for class member
* function with shared_ptr.
*/
template<class T>
CameraSubscriber subscribeCamera(const std::string& base_topic, uint32_t queue_size,
void(T::*fp)(const sensor_msgs::ImageConstPtr&,
const sensor_msgs::CameraInfoConstPtr&),
const boost::shared_ptr<T>& obj,
const TransportHints& transport_hints = TransportHints())
{
return subscribeCamera(base_topic, queue_size, boost::bind(fp, obj.get(), _1, _2), obj,
transport_hints);
}
/**
* \brief Returns the names of all transports declared in the system. Declared
* transports are not necessarily built or loadable.
*/
std::vector<std::string> getDeclaredTransports() const;
/**
* \brief Returns the names of all transports that are loadable in the system.
*/
std::vector<std::string> getLoadableTransports() const;
private:
struct Impl;
typedef boost::shared_ptr<Impl> ImplPtr;
typedef boost::weak_ptr<Impl> ImplWPtr;
ImplPtr impl_;
};
} //namespace image_transport
#endif
|