theora_subscriber.h
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00001 #ifndef IMAGEM_TRANSPORT_THEORA_SUBSCRIBER_H
00002 #define IMAGEM_TRANSPORT_THEORA_SUBSCRIBER_H
00003 #include <message_transport/simple_subscriber_plugin.h>
00004 #include <dynamic_reconfigure/server.h>
00005 #include <theora_imagem_transport/TheoraSubscriberConfig.h>
00006 #include <theora_image_transport/Packet.h>
00007 #include <cv_bridge/cv_bridge.h>
00008 
00009 #include <theora/codec.h>
00010 #include <theora/theoraenc.h>
00011 #include <theora/theoradec.h>
00012 
00013 namespace theora_imagem_transport {
00014 
00015     class TheoraSubscriber : public message_transport::SimpleSubscriberPlugin<sensor_msgs::Image,theora_image_transport::Packet>
00016     {
00017         public:
00018             TheoraSubscriber();
00019             virtual ~TheoraSubscriber();
00020 
00021             virtual std::string getTransportName() const
00022             {
00023                 return "theora";
00024             }
00025 
00026         protected:
00027             //The function that does the actual decompression and calls a user supplied callback with the resulting image
00028             virtual void internalCallback(const theora_image_transport::Packet::ConstPtr &msg, 
00029                     const message_transport::SimpleSubscriberPlugin<sensor_msgs::Image,theora_image_transport::Packet>::Callback& user_cb);
00030 
00031                         typedef message_transport::SubscriberPlugin<sensor_msgs::Image>::Callback ImageCallback;
00032                         
00033             // Overridden to bump queue_size, otherwise we might lose headers
00034             // Overridden to tweak arguments and set up reconfigure server
00035                         virtual void subscribeImpl(ros::NodeHandle& nh, const std::string& base_topic, uint32_t queue_size,
00036                                         const ImageCallback& callback, const ros::VoidPtr& tracked_object,
00037                                         const message_transport::TransportHints& transport_hints);
00038 
00039             // Dynamic reconfigure support
00040             typedef theora_imagem_transport::TheoraSubscriberConfig Config;
00041             typedef dynamic_reconfigure::Server<Config> ReconfigureServer;
00042             boost::shared_ptr<ReconfigureServer> reconfigure_server_;
00043             int pplevel_; // Post-processing level
00044 
00045             void configCb(Config& config, uint32_t level);
00046 
00047             // Utility functions
00048             int updatePostProcessingLevel(int level);
00049             void msgToOggPacket(const theora_image_transport::Packet &msg, ogg_packet &ogg);
00050 
00051             bool received_header_;
00052             bool received_keyframe_;
00053             th_dec_ctx* decoding_context_;
00054             th_info header_info_;
00055             th_comment header_comment_;
00056             th_setup_info* setup_info_;
00057             sensor_msgs::ImagePtr latest_image_;
00058     };
00059 
00060 } //namespace theora_imagem_transport
00061 
00062 #endif // IMAGEM_TRANSPORT_THEORA_SUBSCRIBER_H


theora_imagem_transport
Author(s): Ethan Dreyfuss, Cedric Pradalier
autogenerated on Sun Oct 5 2014 23:49:34