compressed_depth_publisher.cpp
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34 
36 #include <cv_bridge/cv_bridge.h>
38 #include <opencv2/highgui/highgui.hpp>
39 #include <boost/make_shared.hpp>
40 
43 
44 #include <vector>
45 #include <sstream>
46 
47 using namespace cv;
48 using namespace std;
49 
51 
53 {
54 
55 void CompressedDepthPublisher::advertiseImpl(ros::NodeHandle &nh, const std::string &base_topic, uint32_t queue_size,
56  const image_transport::SubscriberStatusCallback &user_connect_cb,
57  const image_transport::SubscriberStatusCallback &user_disconnect_cb,
58  const ros::VoidPtr &tracked_object, bool latch)
59 {
61  Base::advertiseImpl(nh, base_topic, queue_size, user_connect_cb, user_disconnect_cb, tracked_object, latch);
62 
63  // Set up reconfigure server for this topic
64  reconfigure_server_ = boost::make_shared<ReconfigureServer>(this->nh());
65  ReconfigureServer::CallbackType f = boost::bind(&CompressedDepthPublisher::configCb, this, _1, _2);
66  reconfigure_server_->setCallback(f);
67 }
68 
69 void CompressedDepthPublisher::configCb(Config& config, uint32_t level)
70 {
71  config_ = config;
72 }
73 
74 void CompressedDepthPublisher::publish(const sensor_msgs::Image& message, const PublishFn& publish_fn) const
75 {
76  sensor_msgs::CompressedImage::Ptr compressed_image =
77  encodeCompressedDepthImage(message, config_.format, config_.depth_max, config_.depth_quantization, config_.png_level);
78 
79  if (compressed_image)
80  {
81  publish_fn(*compressed_image);
82  }
83 }
84 
85 } //namespace compressed_depth_image_transport
f
boost::function< void(const SingleSubscriberPublisher &)> SubscriberStatusCallback
compressed_depth_image_transport::CompressedDepthPublisherConfig Config
boost::function< void(const sensor_msgs::CompressedImage &)> PublishFn
sensor_msgs::CompressedImage::Ptr encodeCompressedDepthImage(const sensor_msgs::Image &message, const std::string &compression_format, double depth_max, double depth_quantization, int png_level)
Definition: codec.cpp:205


compressed_depth_image_transport
Author(s): Julius Kammerl
autogenerated on Fri Sep 20 2019 03:32:12