jpeg_streamers.cpp
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00001 #include "web_video_server/jpeg_streamers.h"
00002 #include "async_web_server_cpp/http_reply.hpp"
00003 
00004 namespace web_video_server
00005 {
00006 
00007 MjpegStreamer::MjpegStreamer(const async_web_server_cpp::HttpRequest &request,
00008                              async_web_server_cpp::HttpConnectionPtr connection, ros::NodeHandle& nh) :
00009   ImageTransportImageStreamer(request, connection, nh), stream_(connection)
00010 {
00011   quality_ = request.get_query_param_value_or_default<int>("quality", 95);
00012   stream_.sendInitialHeader();
00013 }
00014 
00015 void MjpegStreamer::sendImage(const cv::Mat &img, const ros::Time &time)
00016 {
00017   std::vector<int> encode_params;
00018   encode_params.push_back(CV_IMWRITE_JPEG_QUALITY);
00019   encode_params.push_back(quality_);
00020 
00021   std::vector<uchar> encoded_buffer;
00022   cv::imencode(".jpeg", img, encoded_buffer, encode_params);
00023 
00024   stream_.sendPartAndClear(time, "image/jpeg", encoded_buffer);
00025 }
00026 
00027 boost::shared_ptr<ImageStreamer> MjpegStreamerType::create_streamer(const async_web_server_cpp::HttpRequest &request,
00028                                                                     async_web_server_cpp::HttpConnectionPtr connection,
00029                                                                     ros::NodeHandle& nh)
00030 {
00031   return boost::shared_ptr<ImageStreamer>(new MjpegStreamer(request, connection, nh));
00032 }
00033 
00034 std::string MjpegStreamerType::create_viewer(const async_web_server_cpp::HttpRequest &request)
00035 {
00036   std::stringstream ss;
00037   ss << "<img src=\"/stream?";
00038   ss << request.query;
00039   ss << "\"></img>";
00040   return ss.str();
00041 }
00042 
00043 JpegSnapshotStreamer::JpegSnapshotStreamer(const async_web_server_cpp::HttpRequest &request,
00044                                            async_web_server_cpp::HttpConnectionPtr connection,
00045                                            ros::NodeHandle& nh) :
00046     ImageTransportImageStreamer(request, connection, nh)
00047 {
00048   quality_ = request.get_query_param_value_or_default<int>("quality", 95);
00049 }
00050 
00051 void JpegSnapshotStreamer::sendImage(const cv::Mat &img, const ros::Time &time)
00052 {
00053   std::vector<int> encode_params;
00054   encode_params.push_back(CV_IMWRITE_JPEG_QUALITY);
00055   encode_params.push_back(quality_);
00056 
00057   std::vector<uchar> encoded_buffer;
00058   cv::imencode(".jpeg", img, encoded_buffer, encode_params);
00059 
00060   char stamp[20];
00061   sprintf(stamp, "%.06lf", time.toSec());
00062   async_web_server_cpp::HttpReply::builder(async_web_server_cpp::HttpReply::ok).header("Connection", "close").header(
00063       "Server", "web_video_server").header("Cache-Control",
00064                                            "no-cache, no-store, must-revalidate, pre-check=0, post-check=0, max-age=0").header(
00065       "X-Timestamp", stamp).header("Pragma", "no-cache").header("Content-type", "image/jpeg").header(
00066       "Access-Control-Allow-Origin", "*").header("Content-Length",
00067                                                  boost::lexical_cast<std::string>(encoded_buffer.size())).write(
00068       connection_);
00069   connection_->write_and_clear(encoded_buffer);
00070   inactive_ = true;
00071 }
00072 
00073 }


web_video_server
Author(s): Mitchell Wills
autogenerated on Sun Jan 22 2017 04:06:43