compressed_image_transport: compressed_image_transport: compressed

00001 #include "compressed_image_transport/compressed_subscriber.h"
00002 #include <sensor_msgs/image_encodings.h>
00003 #include <cv_bridge/CvBridge.h>
00004 #include <opencv/cvwimage.h>
00005 #include <opencv/highgui.h>
00006 
00007 namespace compressed_image_transport {
00008 
00009 void CompressedSubscriber::internalCallback(const sensor_msgs::CompressedImageConstPtr& message,
00010                                             const Callback& user_cb)
00011 {
00013   // Decompress
00014   const CvMat compressed = cvMat(1, message->data.size(), CV_8UC1,
00015                                  const_cast<unsigned char*>(&message->data[0]));
00016   cv::WImageBuffer_b decompressed( cvDecodeImage(&compressed, CV_LOAD_IMAGE_ANYCOLOR) );
00017 
00018   // Copy into ROS image message
00019   boost::shared_ptr<sensor_msgs::Image> image_ptr(new sensor_msgs::Image);
00020   if ( !sensor_msgs::CvBridge::fromIpltoRosImage(decompressed.Ipl(), *image_ptr) ) {
00021     ROS_ERROR("Unable to create image message");
00022     return;
00023   }
00024   image_ptr->header = message->header;
00025   image_ptr->__connection_header = message->__connection_header;
00027   if (decompressed.Channels() == 1) {
00028     image_ptr->encoding = sensor_msgs::image_encodings::MONO8;
00029   }
00030   else if (decompressed.Channels() == 3) {
00031     image_ptr->encoding = sensor_msgs::image_encodings::BGR8;
00032   }
00033   else {
00034     ROS_ERROR("Unsupported number of channels: %i", decompressed.Channels());
00035     return;
00036   }
00037   
00038   user_cb(image_ptr);
00039 }
00040 
00041 } //namespace compressed_image_transport
compressed_subscriber.cpp
