theora_publisher.h
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00034 
00035 #include <image_transport/simple_publisher_plugin.h>
00036 #include <opencv/cv.h>
00037 #include <opencv/cxcore.h>
00038 #include <cv_bridge/cv_bridge.h>
00039 #include <std_msgs/Header.h>
00040 #include <dynamic_reconfigure/server.h>
00041 #include <theora_image_transport/TheoraPublisherConfig.h>
00042 #include <theora_image_transport/Packet.h>
00043 
00044 #include <theora/codec.h>
00045 #include <theora/theoraenc.h>
00046 #include <theora/theoradec.h>
00047 
00048 namespace theora_image_transport {
00049 
00050 class TheoraPublisher : public image_transport::SimplePublisherPlugin<theora_image_transport::Packet>
00051 {
00052 public:
00053   TheoraPublisher();
00054 
00055   ~TheoraPublisher();
00056   
00057   // Return the system unique string representing the theora transport type
00058   virtual std::string getTransportName() const { return "theora"; }
00059 
00060 protected:
00061   // Overridden to tweak arguments and set up reconfigure server
00062   virtual void advertiseImpl(ros::NodeHandle &nh, const std::string &base_topic, uint32_t queue_size,
00063                              const image_transport::SubscriberStatusCallback  &user_connect_cb,
00064                              const image_transport::SubscriberStatusCallback  &user_disconnect_cb,
00065                              const ros::VoidPtr &tracked_object, bool latch);
00066   
00067   // Callback to send header packets to new clients
00068   virtual void connectCallback(const ros::SingleSubscriberPublisher& pub);
00069 
00070   // Main publish function
00071   virtual void publish(const sensor_msgs::Image& message,
00072                        const PublishFn& publish_fn) const;
00073 
00074   // Dynamic reconfigure support
00075   typedef theora_image_transport::TheoraPublisherConfig Config;
00076   typedef dynamic_reconfigure::Server<Config> ReconfigureServer;
00077   boost::shared_ptr<ReconfigureServer> reconfigure_server_;
00078 
00079   void configCb(Config& config, uint32_t level);
00080 
00081   // Utility functions
00082   bool ensureEncodingContext(const sensor_msgs::Image& image, const PublishFn& publish_fn) const;
00083   void oggPacketToMsg(const std_msgs::Header& header, const ogg_packet &oggpacket,
00084                       theora_image_transport::Packet &msg) const;
00085   void updateKeyframeFrequency() const;
00086 
00087   // Some data is preserved across calls to publish(), but from the user's perspective publish() is
00088   // "logically const"
00089   mutable cv_bridge::CvImage img_image_;
00090   mutable th_info encoder_setup_;
00091   mutable ogg_uint32_t keyframe_frequency_;
00092   mutable boost::shared_ptr<th_enc_ctx> encoding_context_;
00093   mutable std::vector<theora_image_transport::Packet> stream_header_;
00094 };
00095 
00096 } //namespace compressed_image_transport


theora_image_transport
Author(s): Patrick Mihelich, Ethan Dreyfuss
autogenerated on Mon Oct 6 2014 00:47:14