imagezero_publisher.cpp

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#include "imagezero_image_transport/imagezero_publisher.h"
#include <imagezero_ros/ros_support.h>

namespace imagezero_image_transport
{
  ImageZeroPublisher::ImageZeroPublisher()
  {
    IZ::initEncodeTable();
  }

  void ImageZeroPublisher::advertiseImpl(ros::NodeHandle& nh, const std::string& base_topic, uint32_t queue_size,
                                         const image_transport::SubscriberStatusCallback& user_connect_cb,
                                         const image_transport::SubscriberStatusCallback& user_disconnect_cb,
                                         const ros::VoidPtr& tracked_object, bool latch)
  {
    typedef image_transport::SimplePublisherPlugin<sensor_msgs::CompressedImage> Base;
    Base::advertiseImpl(nh, base_topic, queue_size, user_connect_cb, user_disconnect_cb, tracked_object, latch);
  }

  void ImageZeroPublisher::publish(const sensor_msgs::Image& message, const PublishFn& publish_fn) const
  {
    sensor_msgs::CompressedImage compressed = IZ::compressImage(message);

    publish_fn(compressed);
  }

} //namespace compressed_image_transport