ImageFilterCB Class Reference

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

Inheritance diagram for ImageFilterCB:

Collaboration diagram for ImageFilterCB:

Public Member Functions
bool	activate () override
	Activates the ImageFilterCB component.
bool	configure () override
	Configures the ImageFilterCB component.
bool	deactivate () override
	Deactivates the ImageFilterCB component.
	ImageFilterCB (rclcpp_lifecycle::LifecycleNode::SharedPtr parent)
	Constructs an ImageFilterCB object and initializes the parent lifecycle node.
void	process_in_image (std::unique_ptr< rclcpp::SerializedMessage > msg)
	Processes incoming serialized image messages, applies a simple transformation, and republishes them.
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.

Uses ROS 2 lifecycle and callback functions for message processing.

Constructor & Destructor Documentation

ImageFilterCB()

ImageFilterCB ( rclcpp_lifecycle::LifecycleNode::SharedPtr parent )

explicit

Constructs an ImageFilterCB object and initializes the parent lifecycle node.

Parameters

parent

Shared pointer to the lifecycle node managing this ImageFilterCB instance.

Member Function Documentation

activate()

bool activate ( )

overridevirtual

Activates the ImageFilterCB component.

Returns

True if activation is successful.

Implements Core.

configure()

bool configure ( )

overridevirtual

Configures the ImageFilterCB component.

Sets the afferent component mode to CALLBACK, binding the process_in_image method to handle incoming messages.

Returns

True if configuration is successful.

Implements Core.

deactivate()

bool deactivate ( )

overridevirtual

Deactivates the ImageFilterCB component.

Disables the internal timer by resetting the timer shared pointer to null.

Returns

True if deactivation is successful.

Implements Core.

process_in_image()

void process_in_image

(

std::unique_ptr< rclcpp::SerializedMessage >

msg

)

Processes incoming serialized image messages, applies a simple transformation, and republishes them.

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 serialized incoming image message.

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

• cs4home_core/test/ImageFilterCB.cpp