theora_subscriber.h
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34 
36 #include <dynamic_reconfigure/server.h>
37 #include <theora_image_transport/TheoraSubscriberConfig.h>
38 #include <theora_image_transport/Packet.h>
39 
40 #include <theora/codec.h>
41 #include <theora/theoraenc.h>
42 #include <theora/theoradec.h>
43 
44 namespace theora_image_transport {
45 
46 class TheoraSubscriber : public image_transport::SimpleSubscriberPlugin<theora_image_transport::Packet>
47 {
48 public:
50  virtual ~TheoraSubscriber();
51 
52  virtual std::string getTransportName() const { return "theora"; }
53 
54 protected:
55  // Overridden to bump queue_size, otherwise we might lose headers
56  // Overridden to tweak arguments and set up reconfigure server
57  virtual void subscribeImpl(ros::NodeHandle &nh, const std::string &base_topic, uint32_t queue_size,
58  const Callback &callback, const ros::VoidPtr &tracked_object,
59  const image_transport::TransportHints &transport_hints);
60 
61  // The function that does the actual decompression and calls a user supplied callback with the resulting image
62  virtual void internalCallback(const theora_image_transport::PacketConstPtr &msg, const Callback& user_cb);
63 
64  // Dynamic reconfigure support
65  typedef theora_image_transport::TheoraSubscriberConfig Config;
66  typedef dynamic_reconfigure::Server<Config> ReconfigureServer;
68  int pplevel_; // Post-processing level
69 
70  void configCb(Config& config, uint32_t level);
71 
72  // Utility functions
73  int updatePostProcessingLevel(int level);
74  void msgToOggPacket(const theora_image_transport::Packet &msg, ogg_packet &ogg);
75 
78  th_dec_ctx* decoding_context_;
79  th_info header_info_;
80  th_comment header_comment_;
81  th_setup_info* setup_info_;
82  sensor_msgs::ImagePtr latest_image_;
83 };
84 
85 } //namespace theora_image_transport
theora_image_transport::TheoraSubscriberConfig Config
boost::function< void(const sensor_msgs::ImageConstPtr &)> Callback
void msgToOggPacket(const theora_image_transport::Packet &msg, ogg_packet &ogg)
boost::shared_ptr< ReconfigureServer > reconfigure_server_
virtual void internalCallback(const theora_image_transport::PacketConstPtr &msg, const Callback &user_cb)
virtual std::string getTransportName() const
dynamic_reconfigure::Server< Config > ReconfigureServer
void configCb(Config &config, uint32_t level)
virtual void subscribeImpl(ros::NodeHandle &nh, const std::string &base_topic, uint32_t queue_size, const Callback &callback, const ros::VoidPtr &tracked_object, const image_transport::TransportHints &transport_hints)


theora_image_transport
Author(s): Patrick Mihelich, Ethan Dreyfuss
autogenerated on Tue Jul 2 2019 19:10:14