Program Listing for File jpeg_streamers.hpp

↰ Return to documentation for file (include/web_video_server/streamers/jpeg_streamers.hpp)

// Copyright (c) 2014, Worcester Polytechnic Institute
// Copyright (c) 2024-2025, The Robot Web Tools Contributors
// All rights reserved.
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are met:
//
//    * Redistributions of source code must retain the above copyright
//      notice, this list of conditions and the following disclaimer.
//
//    * Redistributions in binary form must reproduce the above copyright
//      notice, this list of conditions and the following disclaimer in the
//      documentation and/or other materials provided with the distribution.
//
//    * Neither the name of the copyright holder nor the names of its
//      contributors may be used to endorse or promote products derived from
//      this software without specific prior written permission.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
// POSSIBILITY OF SUCH DAMAGE.

#pragma once

#include <chrono>
#include <memory>
#include <string>

#include <opencv2/core/mat.hpp>

#include "async_web_server_cpp/http_request.hpp"
#include "async_web_server_cpp/http_connection.hpp"
#include "rclcpp/node.hpp"

#include "web_video_server/multipart_stream.hpp"
#include "web_video_server/streamer.hpp"
#include "web_video_server/streamers/image_transport_streamer.hpp"

namespace web_video_server
{
namespace streamers
{

class MjpegStreamer : public ImageTransportStreamerBase
{
public:
  MjpegStreamer(
    const async_web_server_cpp::HttpRequest & request,
    async_web_server_cpp::HttpConnectionPtr connection,
    rclcpp::Node::WeakPtr node);
  ~MjpegStreamer();

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

private:
  MultipartStream stream_;
  int quality_;
};

class MjpegStreamerFactory : public ImageTransportStreamerFactoryBase
{
public:
  std::string get_type() {return "mjpeg";}
  std::shared_ptr<StreamerInterface> create_streamer(
    const async_web_server_cpp::HttpRequest & request,
    async_web_server_cpp::HttpConnectionPtr connection,
    rclcpp::Node::WeakPtr node);
};

class JpegSnapshotStreamer : public ImageTransportStreamerBase
{
public:
  JpegSnapshotStreamer(
    const async_web_server_cpp::HttpRequest & request,
    async_web_server_cpp::HttpConnectionPtr connection,
    rclcpp::Node::WeakPtr node);
  ~JpegSnapshotStreamer();

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

private:
  int quality_;
};

class JpegSnapshotStreamerFactory : public ImageTransportSnapshotStreamerFactoryBase
{
public:
  std::string get_type() {return "jpeg";}

  std::shared_ptr<StreamerInterface> create_streamer(
    const async_web_server_cpp::HttpRequest & request,
    async_web_server_cpp::HttpConnectionPtr connection,
    rclcpp::Node::WeakPtr node);
};

}  // namespace streamers
}  // namespace web_video_server