image_transport_codec_plugin.h

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#pragma once
 
// SPDX-License-Identifier: BSD-3-Clause
// SPDX-FileCopyrightText: Czech Technical University in Prague
 
#include <string>
 
#include <dynamic_reconfigure/Config.h>
#include <sensor_msgs/Image.h>
#include <topic_tools/shape_shifter.h>
 
#include <cras_cpp_common/log_utils.h>
#include <image_transport_codecs/image_transport_codec.h>
 
namespace image_transport_codecs
{
 
class ImageTransportCodecPlugin
{
public:
  typedef boost::shared_ptr<ImageTransportCodecPlugin> Ptr;
 
  typedef boost::shared_ptr<const ImageTransportCodecPlugin> ConstPtr;
 
  virtual ~ImageTransportCodecPlugin() = default;
 
  virtual void setLogHelper(const cras::LogHelperPtr& logHelper) = 0;
 
  virtual std::string getTransportName() const = 0;
 
  virtual ImageTransportCodec::EncodeResult encode(const sensor_msgs::Image& raw,
                                                   const dynamic_reconfigure::Config& config) const = 0;
 
  virtual ImageTransportCodec::DecodeResult decode(const topic_tools::ShapeShifter& compressed,
                                                   const dynamic_reconfigure::Config& config) const = 0;
 
  virtual ImageTransportCodec::GetCompressedContentResult getCompressedImageContent(
    const topic_tools::ShapeShifter& compressed, const std::string& matchFormat) const = 0;
};
 
template<typename Codec>
class ImageTransportCodecPluginBase : public ImageTransportCodecPlugin
{
public:
  void setLogHelper(const cras::LogHelperPtr& logHelper) override
  {
    this->codec.setCrasLogger(logHelper);
  }
 
  std::string getTransportName() const override
  {
    return this->codec.getTransportName();
  }
 
  ImageTransportCodec::EncodeResult encode(const sensor_msgs::Image& raw,
                                           const dynamic_reconfigure::Config& config) const override
  {
    return this->codec.encode(raw, config);
  }
 
  ImageTransportCodec::DecodeResult decode(const topic_tools::ShapeShifter& compressed,
                                           const dynamic_reconfigure::Config& config) const override
  {
    return this->codec.decode(compressed, config);
  }
 
  ImageTransportCodec::GetCompressedContentResult getCompressedImageContent(
    const topic_tools::ShapeShifter& compressed, const std::string& matchFormat) const override
  {
    return this->codec.getCompressedImageContent(compressed, matchFormat);
  }
 
private:
  Codec codec;  
};
 
}