camera_pusher.cpp File Reference

#include <stdlib.h>
#include <iostream>
#include <stdio.h>
#include <string>
#include <opencv2/opencv.hpp>
#include <opencv2/core/core.hpp>
#include <opencv2/highgui/highgui.hpp>
#include <opencv2/imgproc/imgproc.hpp>
#include <openni2/OpenNI.h>
#include <ros/ros.h>
#include <std_msgs/String.h>
#include <signal.h>
#include <libavutil/mathematics.h>
#include <libavutil/avassert.h>
#include <libavutil/channel_layout.h>
#include <libavutil/opt.h>
#include <libavutil/imgutils.h>
#include <libswscale/swscale.h>
#include <libavformat/avformat.h>
#include <libavutil/time.h>
#include <libavcodec/avcodec.h>
#include <libavutil/pixfmt.h>

Include dependency graph for camera_pusher.cpp:

Go to the source code of this file.

Functions
void	checkFFmpegError (char *info, int ret)
void	checkOpenNIError (Status result, char *status)
void	initializeFFmpeg ()
int	main (int argc, char **argv)
void	send_mat_to_server (cv::Mat *mat, bool is_rgb)
void	signal_handler (int s)
void	startOpenni ()

Variables
openni::Device	any_device
AVCodecContext *	codec_ctx_depth = NULL
AVCodecContext *	codec_ctx_rgb = NULL
AVCodec *	encoder = NULL
AVFormatContext *	format_ctx_depth = NULL
AVFormatContext *	format_ctx_rgb =NULL
int64_t	frame_count_depth = 0
int64_t	frame_count_rgb = 0
int	hz = 25
ros::Publisher	info_publisher
AVStream *	out_stream_depth = NULL
AVStream *	out_stream_rgb = NULL
AVOutputFormat *	outputfmt_depth = NULL
AVOutputFormat *	outputfmt_rgb = NULL
const char *	rtmp_addr_depth ="rtmp://localhost/depth"
const char *	rtmp_addr_rgb = "rtmp://localhost/rgb"
int64_t	start_time
int	t
int	t1
int	t2
openni::VideoStream	video_stream_color
openni::VideoStream	video_stream_depth

Function Documentation

void checkFFmpegError	(	char *	info,
		int	ret
	)

Definition at line 514 of file camera_pusher.cpp.

void checkOpenNIError	(	Status	result,
		char *	status
	)

Definition at line 497 of file camera_pusher.cpp.

void initializeFFmpeg

(

)

Definition at line 98 of file camera_pusher.cpp.

int main	(	int	argc,
		char **	argv
	)

Definition at line 82 of file camera_pusher.cpp.

void send_mat_to_server	(	cv::Mat *	mat,
		bool	is_rgb
	)

send image frame to rtmp server

Parameters

mat	: the image data of opencv
is_rgb	: if this value is true,send rgb image data ,otherwise send depth image data

Definition at line 356 of file camera_pusher.cpp.

void signal_handler

(

int

s

)

Definition at line 479 of file camera_pusher.cpp.

void startOpenni

(

)

Definition at line 234 of file camera_pusher.cpp.

Variable Documentation

openni::Device any_device

Definition at line 78 of file camera_pusher.cpp.

AVCodecContext* codec_ctx_depth = NULL

Definition at line 67 of file camera_pusher.cpp.

AVCodecContext* codec_ctx_rgb = NULL

Definition at line 66 of file camera_pusher.cpp.

AVCodec* encoder = NULL

Definition at line 65 of file camera_pusher.cpp.

AVFormatContext* format_ctx_depth = NULL

Definition at line 73 of file camera_pusher.cpp.

AVFormatContext* format_ctx_rgb =NULL

Definition at line 72 of file camera_pusher.cpp.

int64_t frame_count_depth = 0

Definition at line 61 of file camera_pusher.cpp.

int64_t frame_count_rgb = 0

Definition at line 60 of file camera_pusher.cpp.

int hz = 25

Definition at line 64 of file camera_pusher.cpp.

ros::Publisher info_publisher

Definition at line 77 of file camera_pusher.cpp.

AVStream* out_stream_depth = NULL

Definition at line 69 of file camera_pusher.cpp.

AVStream* out_stream_rgb = NULL

Definition at line 68 of file camera_pusher.cpp.

AVOutputFormat* outputfmt_depth = NULL

Definition at line 71 of file camera_pusher.cpp.

AVOutputFormat* outputfmt_rgb = NULL

Definition at line 70 of file camera_pusher.cpp.

const char* rtmp_addr_depth ="rtmp://localhost/depth"

Definition at line 75 of file camera_pusher.cpp.

const char* rtmp_addr_rgb = "rtmp://localhost/rgb"

Definition at line 74 of file camera_pusher.cpp.

int64_t start_time

Definition at line 62 of file camera_pusher.cpp.

int t

Definition at line 63 of file camera_pusher.cpp.

int t1

Definition at line 63 of file camera_pusher.cpp.

int t2

Definition at line 63 of file camera_pusher.cpp.

openni::VideoStream video_stream_color

Definition at line 80 of file camera_pusher.cpp.

openni::VideoStream video_stream_depth

Definition at line 79 of file camera_pusher.cpp.