imagezero_subscriber.cpp

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

namespace imagezero_image_transport
{
  ImageZeroSubscriber::ImageZeroSubscriber()
  {
    IZ::initDecodeTable();
  };

  void ImageZeroSubscriber::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)
  {
    typedef image_transport::SimpleSubscriberPlugin<sensor_msgs::CompressedImage> Base;
    Base::subscribeImpl(nh, base_topic, queue_size, callback, tracked_object, transport_hints);
  }

  void ImageZeroSubscriber::internalCallback(const sensor_msgs::CompressedImageConstPtr& message,
                                             const Callback& user_cb)
  {
    sensor_msgs::ImageConstPtr image = boost::make_shared<sensor_msgs::Image>(IZ::decompressImage(message));

    user_cb(image);
  }

} //namespace compressed_image_transport