theora_publisher.h
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00034 
00035 #include <image_transport/simple_publisher_plugin.h>
00036 #include <cv_bridge/cv_bridge.h>
00037 #include <std_msgs/Header.h>
00038 #include <dynamic_reconfigure/server.h>
00039 #include <theora_image_transport/TheoraPublisherConfig.h>
00040 #include <theora_image_transport/Packet.h>
00041 
00042 #include <theora/codec.h>
00043 #include <theora/theoraenc.h>
00044 #include <theora/theoradec.h>
00045 
00046 namespace theora_image_transport {
00047 
00048 class TheoraPublisher : public image_transport::SimplePublisherPlugin<theora_image_transport::Packet>
00049 {
00050 public:
00051   TheoraPublisher();
00052 
00053   ~TheoraPublisher();
00054   
00055   // Return the system unique string representing the theora transport type
00056   virtual std::string getTransportName() const { return "theora"; }
00057 
00058 protected:
00059   // Overridden to tweak arguments and set up reconfigure server
00060   virtual void advertiseImpl(ros::NodeHandle &nh, const std::string &base_topic, uint32_t queue_size,
00061                              const image_transport::SubscriberStatusCallback  &user_connect_cb,
00062                              const image_transport::SubscriberStatusCallback  &user_disconnect_cb,
00063                              const ros::VoidPtr &tracked_object, bool latch);
00064   
00065   // Callback to send header packets to new clients
00066   virtual void connectCallback(const ros::SingleSubscriberPublisher& pub);
00067 
00068   // Main publish function
00069   virtual void publish(const sensor_msgs::Image& message,
00070                        const PublishFn& publish_fn) const;
00071 
00072   // Dynamic reconfigure support
00073   typedef theora_image_transport::TheoraPublisherConfig Config;
00074   typedef dynamic_reconfigure::Server<Config> ReconfigureServer;
00075   boost::shared_ptr<ReconfigureServer> reconfigure_server_;
00076 
00077   void configCb(Config& config, uint32_t level);
00078 
00079   // Utility functions
00080   bool ensureEncodingContext(const sensor_msgs::Image& image, const PublishFn& publish_fn) const;
00081   void oggPacketToMsg(const std_msgs::Header& header, const ogg_packet &oggpacket,
00082                       theora_image_transport::Packet &msg) const;
00083   void updateKeyframeFrequency() const;
00084 
00085   // Some data is preserved across calls to publish(), but from the user's perspective publish() is
00086   // "logically const"
00087   mutable cv_bridge::CvImage img_image_;
00088   mutable th_info encoder_setup_;
00089   mutable ogg_uint32_t keyframe_frequency_;
00090   mutable boost::shared_ptr<th_enc_ctx> encoding_context_;
00091   mutable std::vector<theora_image_transport::Packet> stream_header_;
00092 };
00093 
00094 } //namespace compressed_image_transport


theora_image_transport
Author(s): Patrick Mihelich, Ethan Dreyfuss
autogenerated on Tue Jul 2 2019 19:53:25