Program Listing for File image_streamer.hpp
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// Copyright (c) 2014, Worcester Polytechnic Institute
// Copyright (c) 2024, The Robot Web Tools Contributors
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// * Redistributions in binary form must reproduce the above copyright
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#pragma once
#include <chrono>
#include <memory>
#include <string>
#include <opencv2/opencv.hpp>
#include "rclcpp/rclcpp.hpp"
#include "image_transport/image_transport.hpp"
#include "image_transport/transport_hints.hpp"
#include "web_video_server/utils.hpp"
#include "async_web_server_cpp/http_server.hpp"
#include "async_web_server_cpp/http_request.hpp"
namespace web_video_server
{
class ImageStreamer
{
public:
ImageStreamer(
const async_web_server_cpp::HttpRequest & request,
async_web_server_cpp::HttpConnectionPtr connection,
rclcpp::Node::SharedPtr node);
virtual void start() = 0;
virtual ~ImageStreamer();
bool isInactive()
{
return inactive_;
}
virtual void restreamFrame(std::chrono::duration<double> max_age) = 0;
std::string getTopic()
{
return topic_;
}
protected:
async_web_server_cpp::HttpConnectionPtr connection_;
async_web_server_cpp::HttpRequest request_;
rclcpp::Node::SharedPtr node_;
bool inactive_;
image_transport::Subscriber image_sub_;
std::string topic_;
};
class ImageTransportImageStreamer : public ImageStreamer
{
public:
ImageTransportImageStreamer(
const async_web_server_cpp::HttpRequest & request,
async_web_server_cpp::HttpConnectionPtr connection,
rclcpp::Node::SharedPtr node);
virtual ~ImageTransportImageStreamer();
virtual void start();
protected:
virtual cv::Mat decodeImage(const sensor_msgs::msg::Image::ConstSharedPtr & msg);
virtual void sendImage(const cv::Mat &, const std::chrono::steady_clock::time_point & time) = 0;
virtual void restreamFrame(std::chrono::duration<double> max_age);
virtual void initialize(const cv::Mat &);
image_transport::Subscriber image_sub_;
int output_width_;
int output_height_;
bool invert_;
std::string default_transport_;
std::string qos_profile_name_;
std::chrono::steady_clock::time_point last_frame_;
cv::Mat output_size_image;
std::mutex send_mutex_;
private:
image_transport::ImageTransport it_;
bool initialized_;
void imageCallback(const sensor_msgs::msg::Image::ConstSharedPtr & msg);
};
class ImageStreamerType
{
public:
virtual std::shared_ptr<ImageStreamer> create_streamer(
const async_web_server_cpp::HttpRequest & request,
async_web_server_cpp::HttpConnectionPtr connection,
rclcpp::Node::SharedPtr node) = 0;
virtual std::string create_viewer(const async_web_server_cpp::HttpRequest & request) = 0;
};
} // namespace web_video_server