Program Listing for File compressed_publisher.h

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#include <string>

#include <sensor_msgs/msg/image.hpp>
#include <sensor_msgs/msg/compressed_image.hpp>
#include <image_transport/simple_publisher_plugin.hpp>

#include <rclcpp/node.hpp>

namespace compressed_image_transport {

using CompressedImage = sensor_msgs::msg::CompressedImage;

class CompressedPublisher : public image_transport::SimplePublisherPlugin<CompressedImage>
{
public:
  CompressedPublisher(): logger_(rclcpp::get_logger("CompressedPublisher")) {}
  virtual ~CompressedPublisher() = default;

  virtual std::string getTransportName() const
  {
    return "compressed";
  }

protected:
  // Overridden to set up reconfigure server
  void advertiseImpl(
      rclcpp::Node* node,
      const std::string& base_topic,
      rmw_qos_profile_t custom_qos) override;

  void publish(const sensor_msgs::msg::Image& message,
               const PublishFn& publish_fn) const;

  struct Config {
    // Compression format to use "jpeg", "png" or "tiff".
    std::string format;

    // PNG Compression Level from 0 to 9.  A higher value means a smaller size.
    // Default to OpenCV default of 3
    int png_level;

    // JPEG Quality from 0 to 100 (higher is better quality).
    // Default to OpenCV default of 95.
    int jpeg_quality;

    // TIFF resolution unit
    // Can be one of "none", "inch", "centimeter".
    std::string tiff_res_unit;
    int tiff_xdpi;
    int tiff_ydpi;
  };

  Config config_;
  rclcpp::Logger logger_;
};

} //namespace compressed_image_transport