Program Listing for File zstd_publisher.hpp

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// Copyright (c) 2023, Open Source Robotics Foundation, Inc.
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#ifndef ZSTD_POINT_CLOUD_TRANSPORT__ZSTD_PUBLISHER_HPP_
#define ZSTD_POINT_CLOUD_TRANSPORT__ZSTD_PUBLISHER_HPP_

#include <zstd.h>

#include <memory>
#include <string>

#include <sensor_msgs/msg/point_cloud2.hpp>

#include <point_cloud_transport/point_cloud_transport.hpp>

#include <point_cloud_transport/simple_publisher_plugin.hpp>
#include <point_cloud_interfaces/msg/compressed_point_cloud2.hpp>


namespace zstd_point_cloud_transport
{

class ZstdPublisher
  : public point_cloud_transport::SimplePublisherPlugin<
    point_cloud_interfaces::msg::CompressedPointCloud2>
{
public:
  ZstdPublisher();

  std::string getTransportName() const override;

  void declareParameters(const std::string & base_topic) override;

  std::string getDataType() const override;

  TypedEncodeResult encodeTyped(const sensor_msgs::msg::PointCloud2 & raw) const override;

private:
  int encode_level_{7};

  // When compressing many times,
  // it is recommended to allocate a context just once,
  // and re-use it for each successive compression operation.
  // This will make workload friendlier for system's memory.
  ZSTD_CCtx * zstd_context_{nullptr};
};
}  // namespace zstd_point_cloud_transport

#endif  // ZSTD_POINT_CLOUD_TRANSPORT__ZSTD_PUBLISHER_HPP_