Class TheoraPublisher
Defined in File theora_publisher.h
Inheritance Relationships
Base Type
public image_transport::SimplePublisherPlugin< theora_image_transport::msg::Packet >
Class Documentation
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class TheoraPublisher : public image_transport::SimplePublisherPlugin<theora_image_transport::msg::Packet>
Public Functions
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TheoraPublisher()
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~TheoraPublisher() override
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inline std::string getTransportName() const override
Protected Functions
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void advertiseImpl(rclcpp::Node *node, const std::string &base_topic, rmw_qos_profile_t custom_qos, rclcpp::PublisherOptions options) override
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void publish(const sensor_msgs::msg::Image &message, const PublishFn &publish_fn) const override
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void refreshConfig() const
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bool ensureEncodingContext(const sensor_msgs::msg::Image &image, const PublishFn &publish_fn) const
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void oggPacketToMsg(const std_msgs::msg::Header &header, const ogg_packet &oggpacket, theora_image_transport::msg::Packet &msg) const
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void updateKeyframeFrequency() const
Protected Attributes
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mutable bool refreshConfigNeeded
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mutable cv_bridge::CvImage img_image
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mutable th_info encoder_setup_
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mutable ogg_uint32_t keyframe_frequency_
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mutable std::shared_ptr<th_enc_ctx> encoding_context_
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mutable std::vector<theora_image_transport::msg::Packet> stream_header_
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rclcpp::Logger logger_
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rclcpp::Node *node_
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TheoraPublisher()