ImageFilter Class Reference

Core component that filters incoming image messages by modifying their headers and republishing them on a timer. More...

Inheritance diagram for ImageFilter:

Collaboration diagram for ImageFilter:

Public Member Functions
bool	activate () override
	Activates the ImageFilter component by initializing a timer.
bool	configure () override
	Configures the ImageFilter component.
bool	deactivate () override
	Deactivates the ImageFilter component by disabling the timer.
	ImageFilter (rclcpp_lifecycle::LifecycleNode::SharedPtr parent)
	Constructs an ImageFilter object and initializes the parent lifecycle node.
void	process_in_image (sensor_msgs::msg::Image::UniquePtr msg)
	Processes an incoming image message by modifying its header.
void	timer_callback ()
	Timer callback function that retrieves an image message and processes it.
Public Member Functions inherited from Core
	Core (rclcpp_lifecycle::LifecycleNode::SharedPtr parent)
	Constructs a Core object associated with a parent lifecycle node.
void	set_afferent (cs4home_core::Afferent::SharedPtr afferent)
	Sets the Afferent component associated with this Core.
void	set_efferent (cs4home_core::Efferent::SharedPtr efferent)
	Sets the Efferent component associated with this Core.

Additional Inherited Members
Protected Attributes inherited from Core
cs4home_core::Afferent::SharedPtr	afferent_
	Shared pointer to the Afferent component.
cs4home_core::Efferent::SharedPtr	efferent_
	Shared pointer to the Efferent component.
rclcpp_lifecycle::LifecycleNode::SharedPtr	parent_
	Shared pointer to the parent lifecycle node.

Detailed Description

Core component that filters incoming image messages by modifying their headers and republishing them on a timer.

Constructor & Destructor Documentation

ImageFilter()

ImageFilter ( rclcpp_lifecycle::LifecycleNode::SharedPtr parent )

explicit

Constructs an ImageFilter object and initializes the parent lifecycle node.

Parameters

parent

Shared pointer to the lifecycle node managing this ImageFilter instance.

Member Function Documentation

activate()

bool activate ( )

overridevirtual

Activates the ImageFilter component by initializing a timer.

The timer is set to call timer_callback every 50 milliseconds.

Returns

True if activation is successful.

Implements Core.

configure()

bool configure ( )

overridevirtual

Configures the ImageFilter component.

Returns

True if configuration is successful.

Implements Core.

deactivate()

bool deactivate ( )

overridevirtual

Deactivates the ImageFilter component by disabling the timer.

The timer is reset to null, stopping periodic message processing.

Returns

True if deactivation is successful.

Implements Core.

process_in_image()

void process_in_image

(

sensor_msgs::msg::Image::UniquePtr

msg

)

Processes an incoming image message by modifying its header.

The frame_id in the image header is converted to an integer, doubled, and set as the new frame_id. The modified message is then sent to the efferent component.

Parameters

msg	Unique pointer to the incoming image message of type sensor_msgs::msg::Image.

timer_callback()

void timer_callback

(

)

Timer callback function that retrieves an image message and processes it.

This function is called periodically and attempts to retrieve an image message from the afferent component. If a message is received, it is passed to process_in_image.

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

• cs4home_core/test/ImageFilter.cpp