Program Listing for File theora_subscriber.h

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#include <image_transport/simple_subscriber_plugin.hpp>
#include <theora_image_transport/msg/packet.hpp>

#include <theora/codec.h>
#include <theora/theoraenc.h>
#include <theora/theoradec.h>

namespace theora_image_transport {

class TheoraSubscriber : public image_transport::SimpleSubscriberPlugin<theora_image_transport::msg::Packet>
{
public:
  TheoraSubscriber();
  virtual ~TheoraSubscriber();

  virtual std::string getTransportName() const { return "theora"; }

protected:
  // Overridden to bump queue_size, otherwise we might lose headers
  virtual void subscribeImpl(
    rclcpp::Node* node,
    const std::string &base_topic,
    const Callback & callback,
    uint32_t queue_size,
    rmw_qos_profile_t custom_qos);

  // The function that does the actual decompression and calls a user supplied
  // callback with the resulting image
  virtual void internalCallback(const theora_image_transport::msg::Packet::ConstSharedPtr &msg,
                                const Callback& user_cb);

  // Utility functions
  int updatePostProcessingLevel(int level);
  void msgToOggPacket(const theora_image_transport::msg::Packet &msg,
                      ogg_packet &ogg);

  int pplevel_; // Post-processing level
  bool received_header_;
  bool received_keyframe_;
  th_dec_ctx* decoding_context_;
  th_info header_info_;
  th_comment header_comment_;
  th_setup_info* setup_info_;
  sensor_msgs::msg::Image::SharedPtr latest_image_;

  rclcpp::Logger logger_;
};

} //namespace theora_image_transport