Program Listing for File png_streamers.hpp
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#pragma once
#include <memory>
#include <string>
#include "image_transport/image_transport.hpp"
#include "web_video_server/image_streamer.hpp"
#include "async_web_server_cpp/http_request.hpp"
#include "async_web_server_cpp/http_connection.hpp"
#include "web_video_server/multipart_stream.hpp"
namespace web_video_server
{
class PngStreamer : public ImageTransportImageStreamer
{
public:
PngStreamer(
const async_web_server_cpp::HttpRequest & request,
async_web_server_cpp::HttpConnectionPtr connection,
rclcpp::Node::SharedPtr node);
~PngStreamer();
protected:
virtual void sendImage(const cv::Mat &, const std::chrono::steady_clock::time_point & time);
virtual cv::Mat decodeImage(const sensor_msgs::msg::Image::ConstSharedPtr & msg);
private:
MultipartStream stream_;
int quality_;
};
class PngStreamerType : public ImageStreamerType
{
public:
std::shared_ptr<ImageStreamer> create_streamer(
const async_web_server_cpp::HttpRequest & request,
async_web_server_cpp::HttpConnectionPtr connection,
rclcpp::Node::SharedPtr node);
std::string create_viewer(const async_web_server_cpp::HttpRequest & request);
};
class PngSnapshotStreamer : public ImageTransportImageStreamer
{
public:
PngSnapshotStreamer(
const async_web_server_cpp::HttpRequest & request,
async_web_server_cpp::HttpConnectionPtr connection, rclcpp::Node::SharedPtr node);
~PngSnapshotStreamer();
protected:
virtual void sendImage(const cv::Mat &, const std::chrono::steady_clock::time_point & time);
virtual cv::Mat decodeImage(const sensor_msgs::msg::Image::ConstSharedPtr & msg);
private:
int quality_;
};
} // namespace web_video_server