Program Listing for File zstd_publisher.hpp
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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_