theora_imagem_transport: theora_subscriber.h Source File

00001 #include <message_transport/simple_subscriber_plugin.h>
00002 #include <theora_imagem_transport/packet.h>
00003 #include <cv_bridge/CvBridge.h>
00004 
00005 #include <theora/codec.h>
00006 #include <theora/theoraenc.h>
00007 #include <theora/theoradec.h>
00008 
00009 namespace theora_imagem_transport {
00010 
00011 class TheoraSubscriber : public message_transport::SimpleSubscriberPlugin<sensor_msgs::Image,theora_imagem_transport::packet>
00012 {
00013 public:
00014   TheoraSubscriber();
00015   virtual ~TheoraSubscriber();
00016 
00017   virtual std::string getTransportName() const
00018   {
00019     return "theora";
00020   }
00021 
00022 protected:
00023   //The function that does the actual decompression and calls a user supplied callback with the resulting image
00024   virtual void internalCallback(const theora_imagem_transport::packet::ConstPtr &msg, 
00025                   const message_transport::SimpleSubscriberPlugin<sensor_msgs::Image,theora_imagem_transport::packet>::Callback& user_cb);
00026 
00027 private:
00028   void msgToOggPacket(const theora_imagem_transport::packet &msg, ogg_packet &oggpacketOutput);
00029 
00030   bool received_header_;
00031   th_dec_ctx* decoding_context_;
00032   th_info header_info_;
00033   th_comment header_comment_;
00034   th_setup_info* setup_info_;
00035   sensor_msgs::CvBridge img_bridge_;
00036 };
00037 
00038 } //namespace theora_imagem_transport