/usr/include/image_transport/subscriber_filter.h is in libimage-transport-dev 1.11.10-5.
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#ifndef IMAGE_TRANSPORT_SUBSCRIBER_FILTER_H
#define IMAGE_TRANSPORT_SUBSCRIBER_FILTER_H
#include <ros/ros.h>
#include <message_filters/simple_filter.h>
#include "image_transport/image_transport.h"
namespace image_transport {
/**
* \brief Image subscription filter.
*
* This class wraps Subscriber as a "filter" compatible with the message_filters
* package. It acts as a highest-level filter, simply passing messages from an image
* transport subscription through to the filters which have connected to it.
*
* When this object is destroyed it will unsubscribe from the ROS subscription.
*
* \section connections CONNECTIONS
*
* SubscriberFilter has no input connection.
*
* The output connection for the SubscriberFilter object is the same signature as for roscpp
* subscription callbacks, ie.
\verbatim
void callback(const boost::shared_ptr<const sensor_msgs::Image>&);
\endverbatim
*/
class SubscriberFilter : public message_filters::SimpleFilter<sensor_msgs::Image>
{
public:
/**
* \brief Constructor
*
* See the ros::NodeHandle::subscribe() variants for more information on the parameters
*
* \param nh The ros::NodeHandle to use to subscribe.
* \param base_topic The topic to subscribe to.
* \param queue_size The subscription queue size
* \param transport_hints The transport hints to pass along
*/
SubscriberFilter(ImageTransport& it, const std::string& base_topic, uint32_t queue_size,
const TransportHints& transport_hints = TransportHints())
{
subscribe(it, base_topic, queue_size, transport_hints);
}
/**
* \brief Empty constructor, use subscribe() to subscribe to a topic
*/
SubscriberFilter()
{
}
~SubscriberFilter()
{
unsubscribe();
}
/**
* \brief Subscribe to a topic.
*
* If this Subscriber is already subscribed to a topic, this function will first unsubscribe.
*
* \param nh The ros::NodeHandle to use to subscribe.
* \param base_topic The topic to subscribe to.
* \param queue_size The subscription queue size
* \param transport_hints The transport hints to pass along
*/
void subscribe(ImageTransport& it, const std::string& base_topic, uint32_t queue_size,
const TransportHints& transport_hints = TransportHints())
{
unsubscribe();
sub_ = it.subscribe(base_topic, queue_size, boost::bind(&SubscriberFilter::cb, this, _1),
ros::VoidPtr(), transport_hints);
}
/**
* \brief Force immediate unsubscription of this subscriber from its topic
*/
void unsubscribe()
{
sub_.shutdown();
}
std::string getTopic() const
{
return sub_.getTopic();
}
/**
* \brief Returns the number of publishers this subscriber is connected to.
*/
uint32_t getNumPublishers() const
{
return sub_.getNumPublishers();
}
/**
* \brief Returns the name of the transport being used.
*/
std::string getTransport() const
{
return sub_.getTransport();
}
/**
* \brief Returns the internal image_transport::Subscriber object.
*/
const Subscriber& getSubscriber() const
{
return sub_;
}
private:
void cb(const sensor_msgs::ImageConstPtr& m)
{
signalMessage(m);
}
Subscriber sub_;
};
}
#endif
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