theora_subscriber.h
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00034 
00035 #include <image_transport/simple_subscriber_plugin.h>
00036 #include <dynamic_reconfigure/server.h>
00037 #include <theora_image_transport/TheoraSubscriberConfig.h>
00038 #include <theora_image_transport/Packet.h>
00039 
00040 #include <theora/codec.h>
00041 #include <theora/theoraenc.h>
00042 #include <theora/theoradec.h>
00043 
00044 namespace theora_image_transport {
00045 
00046 class TheoraSubscriber : public image_transport::SimpleSubscriberPlugin<theora_image_transport::Packet>
00047 {
00048 public:
00049   TheoraSubscriber();
00050   virtual ~TheoraSubscriber();
00051 
00052   virtual std::string getTransportName() const { return "theora"; }
00053 
00054 protected:
00055   // Overridden to bump queue_size, otherwise we might lose headers
00056   // Overridden to tweak arguments and set up reconfigure server
00057   virtual void subscribeImpl(ros::NodeHandle &nh, const std::string &base_topic, uint32_t queue_size,
00058                              const Callback &callback, const ros::VoidPtr &tracked_object,
00059                              const image_transport::TransportHints &transport_hints);
00060   
00061   // The function that does the actual decompression and calls a user supplied callback with the resulting image
00062   virtual void internalCallback(const theora_image_transport::PacketConstPtr &msg, const Callback& user_cb);
00063 
00064   // Dynamic reconfigure support
00065   typedef theora_image_transport::TheoraSubscriberConfig Config;
00066   typedef dynamic_reconfigure::Server<Config> ReconfigureServer;
00067   boost::shared_ptr<ReconfigureServer> reconfigure_server_;
00068   int pplevel_; // Post-processing level
00069 
00070   void configCb(Config& config, uint32_t level);
00071 
00072   // Utility functions
00073   int updatePostProcessingLevel(int level);
00074   void msgToOggPacket(const theora_image_transport::Packet &msg, ogg_packet &ogg);
00075 
00076   bool received_header_;
00077   bool received_keyframe_;
00078   th_dec_ctx* decoding_context_;
00079   th_info header_info_;
00080   th_comment header_comment_;
00081   th_setup_info* setup_info_;
00082   sensor_msgs::ImagePtr latest_image_;
00083 };
00084 
00085 } //namespace theora_image_transport


theora_image_transport
Author(s): Patrick Mihelich, Ethan Dreyfuss
autogenerated on Tue Oct 4 2016 03:52:11