Program Listing for File turbojpeg_compressed_publisher.hpp

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// Copyright 2022 Daisuke Nishimatsu
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#ifndef TURBOJPEG_COMPRESSED_IMAGE_TRANSPORT__TURBOJPEG_COMPRESSED_PUBLISHER_HPP_
#define TURBOJPEG_COMPRESSED_IMAGE_TRANSPORT__TURBOJPEG_COMPRESSED_PUBLISHER_HPP_

#include <turbojpeg.h>

#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>

#include <turbojpeg_compressed_image_transport/turbojpeg_compressed_common.hpp>

namespace turbojpeg_compressed_image_transport
{

using CompressedImage = sensor_msgs::msg::CompressedImage;

class TurbojpegCompressedPublisher : public image_transport::SimplePublisherPlugin<CompressedImage>
{
public:
  TurbojpegCompressedPublisher()
  : logger_(rclcpp::get_logger("TurbojpegCompressedPublisher")),
    tjhandle_(makeTjhandleUniquePtr()) {}

  std::string getTransportName() const override
  {
    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 override;

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

  Config config_;
  std::string jpeg_quality_param_name_;
  rclcpp::Logger logger_;
  rclcpp::Node * node_;
  TjhandleUniquePtr tjhandle_;
};

}  // namespace turbojpeg_compressed_image_transport

#endif  // TURBOJPEG_COMPRESSED_IMAGE_TRANSPORT__TURBOJPEG_COMPRESSED_PUBLISHER_HPP_