theora_publisher.h

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#ifndef IMAGEM_TRANSPORT_THEORA_PUBLISHER_H
#define IMAGEM_TRANSPORT_THEORA_PUBLISHER_H

#include <message_transport/simple_publisher_plugin.h>
#include <opencv/cv.h>
#include <opencv/cxcore.h>
#include <cv_bridge/cv_bridge.h>
#include <std_msgs/Header.h>
#include <dynamic_reconfigure/server.h>
#include <theora_imagem_transport/TheoraPublisherConfig.h>
#include <theora_image_transport/Packet.h>

#include <theora/codec.h>
#include <theora/theoraenc.h>
#include <theora/theoradec.h>

namespace theora_imagem_transport {

    class TheoraPublisher : public message_transport::SimplePublisherPlugin<sensor_msgs::Image,theora_image_transport::Packet>
    {
        public:
            TheoraPublisher();
            virtual ~TheoraPublisher();

            //Return the system unique string representing the theora transport type
            virtual std::string getTransportName() const
            {
                return "theora";
            }

        protected:
            //Callback to send header packets to new clients
            virtual void connectCallback(const ros::SingleSubscriberPublisher& pub);

            //Main publish function
            virtual void publish(const sensor_msgs::Image& message,
                    const message_transport::SimplePublisherPlugin<sensor_msgs::Image,theora_image_transport::Packet>::PublishFn& publish_fn) const ;

        private:
            // Overridden to tweak arguments and set up reconfigure server
            virtual void advertiseImpl(ros::NodeHandle & nh, const std::string& base_topic, uint32_t queue_size,
                                        const message_transport::SingleSubscriberPublisher<sensor_msgs::Image>::StatusCB& user_connect_cb,
                                        const message_transport::SingleSubscriberPublisher<sensor_msgs::Image>::StatusCB& user_disconnect_cb,
                    const ros::VoidPtr& tracked_object, bool latch);

            // Dynamic reconfigure support
            typedef theora_imagem_transport::TheoraPublisherConfig Config;
            typedef dynamic_reconfigure::Server<Config> ReconfigureServer;
            boost::shared_ptr<ReconfigureServer> reconfigure_server_;

            void configCb(Config& config, uint32_t level);

            // Utility functions
            bool ensureEncodingContext(const sensor_msgs::Image& image, const PublishFn& publish_fn) const;
            void oggPacketToMsg(const std_msgs::Header& header, const ogg_packet &oggpacket,
                    theora_image_transport::Packet &msg) const;
            void updateKeyframeFrequency() const;

            // Some data is preserved across calls to publish(), but from the user's perspective publish() is
            // "logically const"
            mutable cv_bridge::CvImage img_image_;
            mutable th_info encoder_setup_;
            mutable ogg_uint32_t keyframe_frequency_;
            mutable boost::shared_ptr<th_enc_ctx> encoding_context_;
            mutable std::vector<theora_image_transport::Packet> stream_header_;
    };

} //namespace compressed_image_transport

#endif // IMAGEM_TRANSPORT_THEORA_PUBLISHER_H