carla::ros2::CarlaCameraPublisher Class Reference

#include <CarlaCameraPublisher.h>

Inheritance diagram for carla::ros2::CarlaCameraPublisher:

Public Member Functions
	CarlaCameraPublisher (CarlaCameraPublisher &&) noexcept=default
	CarlaCameraPublisher (const CarlaCameraPublisher &)=delete
	CarlaCameraPublisher (std::string base_topic_name, std::string frame_id)
CarlaCameraPublisher &	operator= (CarlaCameraPublisher &&) noexcept=default
CarlaCameraPublisher &	operator= (const CarlaCameraPublisher &)=delete
bool	Publish () override
bool	WriteCameraInfo (int32_t seconds, uint32_t nanoseconds, uint32_t x_offset, uint32_t y_offset, uint32_t height, uint32_t width, float fov, bool do_rectify)
bool	WriteImage (int32_t seconds, uint32_t nanoseconds, uint32_t height, uint32_t width, const uint8_t *data)
	~CarlaCameraPublisher () override
Public Member Functions inherited from carla::ros2::BasePublisher
	BasePublisher ()=default
	BasePublisher (BasePublisher &&)=delete
	BasePublisher (const BasePublisher &)=delete
	BasePublisher (std::string base_topic_name)
	BasePublisher (std::string base_topic_name, std::string frame_id)
	BasePublisher (void *actor, std::string base_topic_name, std::string frame_id)
void *	GetActor () const noexcept
const std::string &	GetBaseTopicName () const noexcept
const std::string &	GetFrameId () const noexcept
BasePublisher &	operator= (BasePublisher &&)=delete
BasePublisher &	operator= (const BasePublisher &)=delete
virtual	~BasePublisher ()=default

Protected Member Functions
virtual std::vector< uint8_t >	ComputeImage (uint32_t height, uint32_t width, const uint8_t *data) const
virtual uint8_t	GetChannels () const =0
virtual std::string	GetEncoding () const =0

Private Member Functions
bool	WriteImage (int32_t seconds, uint32_t nanoseconds, uint32_t height, uint32_t width, std::vector< uint8_t > data)

Private Attributes
std::shared_ptr< PublisherImpl< CarlaCameraInfoMsgTraits > >	_impl_camera_info
std::shared_ptr< PublisherImpl< CarlaCameraImageMsgTraits > >	_impl_image

Additional Inherited Members
Protected Attributes inherited from carla::ros2::BasePublisher
void *	_actor {nullptr}
std::string	_base_topic_name
std::string	_frame_id

Detailed Description

Definition at line 28 of file CarlaCameraPublisher.h.

Constructor & Destructor Documentation

CarlaCameraPublisher() [1/3]

carla::ros2::CarlaCameraPublisher::CarlaCameraPublisher	(	std::string	base_topic_name,
		std::string	frame_id
	)

Definition at line 29 of file CarlaCameraPublisher.cpp.

References _impl_camera_info, _impl_image, carla::ros2::BasePublisher::GetBaseTopicName(), and carla::log_error().

~CarlaCameraPublisher()

carla::ros2::CarlaCameraPublisher::~CarlaCameraPublisher ( )

overridedefault

CarlaCameraPublisher() [2/3]

carla::ros2::CarlaCameraPublisher::CarlaCameraPublisher ( const CarlaCameraPublisher &  )

delete

CarlaCameraPublisher() [3/3]

carla::ros2::CarlaCameraPublisher::CarlaCameraPublisher ( CarlaCameraPublisher &&  )

defaultnoexcept

Member Function Documentation

ComputeImage()

std::vector< uint8_t > carla::ros2::CarlaCameraPublisher::ComputeImage ( uint32_t  height, uint32_t  width, const uint8_t *  data  ) const

protectedvirtual

Reimplemented in carla::ros2::CarlaOpticalFlowCameraPublisher.

Definition at line 52 of file CarlaCameraPublisher.cpp.

References GetChannels().

Referenced by WriteImage().

GetChannels()

virtual uint8_t carla::ros2::CarlaCameraPublisher::GetChannels ( ) const

protectedpure virtual

Implemented in carla::ros2::CarlaDVSImagePublisher, carla::ros2::CarlaOpticalFlowCameraPublisher, and carla::ros2::CarlaRGBCameraPublisher.

Referenced by ComputeImage(), and WriteImage().

GetEncoding()

virtual std::string carla::ros2::CarlaCameraPublisher::GetEncoding ( ) const

protectedpure virtual

Implemented in carla::ros2::CarlaDVSImagePublisher, carla::ros2::CarlaOpticalFlowCameraPublisher, and carla::ros2::CarlaRGBCameraPublisher.

Referenced by WriteImage().

operator=() [1/2]

CarlaCameraPublisher & carla::ros2::CarlaCameraPublisher::operator= ( CarlaCameraPublisher &&  )

defaultnoexcept

operator=() [2/2]

CarlaCameraPublisher & carla::ros2::CarlaCameraPublisher::operator= ( const CarlaCameraPublisher &  )

delete

Publish()

bool carla::ros2::CarlaCameraPublisher::Publish ( )

overridevirtual

Implements carla::ros2::BasePublisher.

Definition at line 44 of file CarlaCameraPublisher.cpp.

References _impl_camera_info, and _impl_image.

WriteCameraInfo()

bool carla::ros2::CarlaCameraPublisher::WriteCameraInfo	(	int32_t	seconds,
		uint32_t	nanoseconds,
		uint32_t	x_offset,
		uint32_t	y_offset,
		uint32_t	height,
		uint32_t	width,
		float	fov,
		bool	do_rectify
	)

Definition at line 59 of file CarlaCameraPublisher.cpp.

References _impl_camera_info, carla::ros2::ComputeIntrinsics(), and carla::ros2::BasePublisher::GetFrameId().

WriteImage() [1/2]

bool carla::ros2::CarlaCameraPublisher::WriteImage	(	int32_t	seconds,
		uint32_t	nanoseconds,
		uint32_t	height,
		uint32_t	width,
		const uint8_t *	data
	)

Definition at line 94 of file CarlaCameraPublisher.cpp.

References ComputeImage(), and WriteImage().

Referenced by WriteImage(), and carla::ros2::CarlaDVSImagePublisher::WriteImageFromEvents().

WriteImage() [2/2]

bool carla::ros2::CarlaCameraPublisher::WriteImage ( int32_t  seconds, uint32_t  nanoseconds, uint32_t  height, uint32_t  width, std::vector< uint8_t >  data  )

private

Definition at line 103 of file CarlaCameraPublisher.cpp.

References _impl_image, GetChannels(), GetEncoding(), and carla::ros2::BasePublisher::GetFrameId().

Member Data Documentation

_impl_camera_info

std::shared_ptr<PublisherImpl<CarlaCameraInfoMsgTraits> > carla::ros2::CarlaCameraPublisher::_impl_camera_info

private

Definition at line 72 of file CarlaCameraPublisher.h.

Referenced by CarlaCameraPublisher(), Publish(), and WriteCameraInfo().

_impl_image

std::shared_ptr<PublisherImpl<CarlaCameraImageMsgTraits> > carla::ros2::CarlaCameraPublisher::_impl_image

private

Definition at line 71 of file CarlaCameraPublisher.h.

Referenced by CarlaCameraPublisher(), Publish(), and WriteImage().

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

• CarlaCameraPublisher.h
• CarlaCameraPublisher.cpp