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00017 package org.ros.android.android_tutorial_image_transport;
00018
00019 import android.os.Bundle;
00020 import org.ros.address.InetAddressFactory;
00021 import org.ros.android.BitmapFromCompressedImage;
00022 import org.ros.android.RosActivity;
00023 import org.ros.android.view.RosImageView;
00024 import org.ros.node.NodeConfiguration;
00025 import org.ros.node.NodeMainExecutor;
00026
00031 public class MainActivity extends RosActivity {
00032
00033 private RosImageView<sensor_msgs.CompressedImage> image;
00034
00035 public MainActivity() {
00036 super("ImageTransportTutorial", "ImageTransportTutorial");
00037 }
00038
00039 @SuppressWarnings("unchecked")
00040 @Override
00041 public void onCreate(Bundle savedInstanceState) {
00042 super.onCreate(savedInstanceState);
00043 setContentView(R.layout.main);
00044 image = (RosImageView<sensor_msgs.CompressedImage>) findViewById(R.id.image);
00045 image.setTopicName("/usb_cam/image_raw/compressed");
00046 image.setMessageType(sensor_msgs.CompressedImage._TYPE);
00047 image.setMessageToBitmapCallable(new BitmapFromCompressedImage());
00048 }
00049
00050 @Override
00051 protected void init(NodeMainExecutor nodeMainExecutor) {
00052 NodeConfiguration nodeConfiguration =
00053 NodeConfiguration.newPublic(InetAddressFactory.newNonLoopback().getHostAddress(),
00054 getMasterUri());
00055 nodeMainExecutor.execute(image, nodeConfiguration.setNodeName("android/video_view"));
00056 }
00057 }