compressed_subscriber.h
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34 
36 #include <sensor_msgs/CompressedImage.h>
37 #include <dynamic_reconfigure/server.h>
38 #include <compressed_image_transport/CompressedSubscriberConfig.h>
39 
40 #include <turbojpeg.h>
41 
43 
44 class CompressedSubscriber : public image_transport::SimpleSubscriberPlugin<sensor_msgs::CompressedImage>
45 {
46 public:
48  virtual ~CompressedSubscriber();
49 
50  virtual std::string getTransportName() const
51  {
52  return "compressed";
53  }
54 
55  virtual void shutdown();
56 
57 protected:
58  // Overridden to set up reconfigure server
59  virtual void subscribeImpl(ros::NodeHandle& nh, const std::string& base_topic, uint32_t queue_size,
60  const Callback& callback, const ros::VoidPtr& tracked_object,
61  const image_transport::TransportHints& transport_hints);
62 
63 
64  virtual void internalCallback(const sensor_msgs::CompressedImageConstPtr& message,
65  const Callback& user_cb);
66 
67  sensor_msgs::ImagePtr decompressJPEG(const std::vector<uint8_t>& data, const std::string& source_encoding, const std_msgs::Header& header);
68 
69  typedef compressed_image_transport::CompressedSubscriberConfig Config;
70  typedef dynamic_reconfigure::Server<Config> ReconfigureServer;
72  Config config_;
74  tjhandle tj_;
75 
76  void configCb(Config& config, uint32_t level);
77 };
78 
79 } //namespace image_transport
sensor_msgs::ImagePtr decompressJPEG(const std::vector< uint8_t > &data, const std::string &source_encoding, const std_msgs::Header &header)
compressed_image_transport::CompressedSubscriberConfig Config
boost::function< void(const sensor_msgs::ImageConstPtr &)> Callback
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)
virtual void internalCallback(const sensor_msgs::CompressedImageConstPtr &message, const Callback &user_cb)
dynamic_reconfigure::Server< Config > ReconfigureServer
const std::string header
boost::shared_ptr< ReconfigureServer > reconfigure_server_


compressed_image_transport
Author(s): Patrick Mihelich, Julius Kammerl, David Gossow
autogenerated on Fri Feb 10 2023 03:31:21