Class LibavStreamerBase

Defined in File libav_streamer.hpp

Inheritance Relationships

Base Type

public web_video_server::streamers::ImageTransportStreamerBase (Class ImageTransportStreamerBase)

Derived Types

public web_video_server::streamers::H264Streamer (Class H264Streamer)
public web_video_server::streamers::Vp8Streamer (Class Vp8Streamer)
public web_video_server::streamers::Vp9Streamer (Class Vp9Streamer)

Class Documentation

class LibavStreamerBase : public web_video_server::streamers::ImageTransportStreamerBase 

A common base class for all streaming plugins using image_transport to subscribe to image topics and libav to encode and stream video.

Subclassed by web_video_server::streamers::H264Streamer, web_video_server::streamers::Vp8Streamer, web_video_server::streamers::Vp9Streamer

Public Functions

LibavStreamerBase(const async_web_server_cpp::HttpRequest &request, async_web_server_cpp::HttpConnectionPtr connection, rclcpp::Node::WeakPtr node, std::string logger_name, const std::string &format_name, const std::string &codec_name, const std::string &content_type)

~LibavStreamerBase()

Protected Functions

virtual void initialize_encoder() = 0

virtual void send_image(const cv::Mat&, const std::chrono::steady_clock::time_point &time)

virtual void initialize(const cv::Mat&)

Protected Attributes

AVFormatContext *format_context_

const AVCodec *codec_

AVCodecContext *codec_context_

AVStream *video_stream_

AVDictionary *opt_