.. _program_listing_file_include_image_publisher.h:

Program Listing for File image_publisher.h
==========================================

|exhale_lsh| :ref:`Return to documentation for file <file_include_image_publisher.h>` (``include/image_publisher.h``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   // Copyright 2023 Intel Corporation. All Rights Reserved.
   //
   // Licensed under the Apache License, Version 2.0 (the "License");
   // you may not use this file except in compliance with the License.
   // You may obtain a copy of the License at
   //
   //     http://www.apache.org/licenses/LICENSE-2.0
   //
   // Unless required by applicable law or agreed to in writing, software
   // distributed under the License is distributed on an "AS IS" BASIS,
   // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
   // See the License for the specific language governing permissions and
   // limitations under the License.
   
   #pragma once
   
   #include <rclcpp/rclcpp.hpp>
   #include <sensor_msgs/msg/image.hpp>
   
   #include <image_transport/image_transport.hpp>
   
   namespace realsense2_camera {
   class image_publisher
   {
   public:
       virtual void publish( sensor_msgs::msg::Image::UniquePtr image_ptr ) = 0;
       virtual size_t get_subscription_count() const = 0;
       virtual ~image_publisher() = default;
   };
   
   // Native RCL implementation of an image publisher (needed for intra-process communication)
   class image_rcl_publisher : public image_publisher
   {
   public:
       image_rcl_publisher( rclcpp::Node & node,
                            const std::string & topic_name,
                            const rmw_qos_profile_t & qos );
       void publish( sensor_msgs::msg::Image::UniquePtr image_ptr ) override;
       size_t get_subscription_count() const override;
   
   private:
       rclcpp::Publisher< sensor_msgs::msg::Image >::SharedPtr image_publisher_impl;
   };
   
   // image_transport implementation of an image publisher (adds a compressed image topic)
   class image_transport_publisher : public image_publisher
   {
   public:
       image_transport_publisher( rclcpp::Node & node,
                                  const std::string & topic_name,
                                  const rmw_qos_profile_t & qos );
       void publish( sensor_msgs::msg::Image::UniquePtr image_ptr ) override;
       size_t get_subscription_count() const override;
   
   private:
       std::shared_ptr< image_transport::Publisher > image_publisher_impl;
   };
   
   }  // namespace realsense2_camera