#include <theora_publisher.h>

Inheritance diagram for theora_image_transport::TheoraPublisher:

Public Member Functions
virtual std::string	getTransportName () const

	TheoraPublisher ()

	~TheoraPublisher ()

Public Member Functions inherited from image_transport::SimplePublisherPlugin< theora_image_transport::Packet >
virtual uint32_t	getNumSubscribers () const

virtual std::string	getTopic () const

virtual void	publish (const sensor_msgs::Image &message) const

virtual void	shutdown ()

virtual	~SimplePublisherPlugin ()

Public Member Functions inherited from image_transport::PublisherPlugin
void	advertise (ros::NodeHandle &nh, const std::string &base_topic, uint32_t queue_size, bool latch=true)

void	advertise (ros::NodeHandle &nh, const std::string &base_topic, uint32_t queue_size, const SubscriberStatusCallback &connect_cb, const SubscriberStatusCallback &disconnect_cb=SubscriberStatusCallback(), const ros::VoidPtr &tracked_object=ros::VoidPtr(), bool latch=true)

virtual void	publish (const sensor_msgs::ImageConstPtr &message) const

virtual void	publish (const sensor_msgs::Image &message, const uint8_t *data) const

virtual	~PublisherPlugin ()

Protected Types
typedef theora_image_transport::TheoraPublisherConfig	Config

typedef dynamic_reconfigure::Server< Config >	ReconfigureServer

Protected Types inherited from image_transport::SimplePublisherPlugin< theora_image_transport::Packet >
typedef boost::function< void(const theora_image_transport::Packet &)>	PublishFn

Protected Member Functions
virtual void	advertiseImpl (ros::NodeHandle &nh, const std::string &base_topic, uint32_t queue_size, const image_transport::SubscriberStatusCallback &user_connect_cb, const image_transport::SubscriberStatusCallback &user_disconnect_cb, const ros::VoidPtr &tracked_object, bool latch)

void	configCb (Config &config, uint32_t level)

virtual void	connectCallback (const ros::SingleSubscriberPublisher &pub)

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

virtual void	publish (const sensor_msgs::Image &message, const PublishFn &publish_fn) const

void	updateKeyframeFrequency () const

Protected Member Functions inherited from image_transport::SimplePublisherPlugin< theora_image_transport::Packet >
virtual void	disconnectCallback (const ros::SingleSubscriberPublisher &pub)

const ros::Publisher &	getPublisher () const

virtual std::string	getTopicToAdvertise (const std::string &base_topic) const

const ros::NodeHandle &	nh () const

Protected Attributes
th_info	encoder_setup_

boost::shared_ptr< th_enc_ctx >	encoding_context_

cv_bridge::CvImage	img_image_

ogg_uint32_t	keyframe_frequency_

boost::shared_ptr< ReconfigureServer >	reconfigure_server_

std::vector< theora_image_transport::Packet >	stream_header_

Additional Inherited Members
Static Public Member Functions inherited from image_transport::PublisherPlugin
static std::string	getLookupName (const std::string &transport_name)

Detailed Description

Definition at line 48 of file theora_publisher.h.

Member Typedef Documentation

typedef theora_image_transport::TheoraPublisherConfig theora_image_transport::TheoraPublisher::Config

protected

Definition at line 73 of file theora_publisher.h.

typedef dynamic_reconfigure::Server<Config> theora_image_transport::TheoraPublisher::ReconfigureServer

protected

Definition at line 74 of file theora_publisher.h.

Constructor & Destructor Documentation

theora_image_transport::TheoraPublisher::TheoraPublisher ( )

Definition at line 48 of file theora_publisher.cpp.

theora_image_transport::TheoraPublisher::~TheoraPublisher ( )

Definition at line 67 of file theora_publisher.cpp.

Member Function Documentation

void theora_image_transport::TheoraPublisher::advertiseImpl	(	ros::NodeHandle &	nh,
		const std::string &	base_topic,
		uint32_t	queue_size,
		const image_transport::SubscriberStatusCallback &	user_connect_cb,
		const image_transport::SubscriberStatusCallback &	user_disconnect_cb,
		const ros::VoidPtr &	tracked_object,
		bool	latch
	)

protectedvirtual

Reimplemented from image_transport::SimplePublisherPlugin< theora_image_transport::Packet >.

Definition at line 72 of file theora_publisher.cpp.

void theora_image_transport::TheoraPublisher::configCb	(	Config &	config,
		uint32_t	level
	)

protected

Definition at line 91 of file theora_publisher.cpp.

void theora_image_transport::TheoraPublisher::connectCallback ( const ros::SingleSubscriberPublisher & pub )

protectedvirtual

Reimplemented from image_transport::SimplePublisherPlugin< theora_image_transport::Packet >.

Definition at line 140 of file theora_publisher.cpp.

bool theora_image_transport::TheoraPublisher::ensureEncodingContext	(	const sensor_msgs::Image &	image,
		const PublishFn &	publish_fn
	)		const

protected

Todo:: Check if encoding has changed

Todo:: Store image encoding in comment

Todo:: Try not to send headers twice to some listeners

Definition at line 246 of file theora_publisher.cpp.

virtual std::string theora_image_transport::TheoraPublisher::getTransportName ( ) const

inlinevirtual

Implements image_transport::PublisherPlugin.

Definition at line 56 of file theora_publisher.h.

void theora_image_transport::TheoraPublisher::oggPacketToMsg	(	const std_msgs::Header &	header,
		const ogg_packet &	oggpacket,
		theora_image_transport::Packet &	msg
	)		const

protected

Definition at line 287 of file theora_publisher.cpp.

void theora_image_transport::TheoraPublisher::publish	(	const sensor_msgs::Image &	message,
		const PublishFn &	publish_fn
	)		const

protectedvirtual

Todo:: fromImage is deprecated

Todo:: Optimized gray-scale path, rgb8

Todo:: fromImage can throw cv::Exception on bayer encoded images

Implements image_transport::SimplePublisherPlugin< theora_image_transport::Packet >.

Definition at line 156 of file theora_publisher.cpp.

void theora_image_transport::TheoraPublisher::updateKeyframeFrequency ( ) const

protected

Definition at line 299 of file theora_publisher.cpp.

Member Data Documentation

th_info theora_image_transport::TheoraPublisher::encoder_setup_

mutableprotected

Definition at line 88 of file theora_publisher.h.

boost::shared_ptr<th_enc_ctx> theora_image_transport::TheoraPublisher::encoding_context_

mutableprotected

Definition at line 90 of file theora_publisher.h.

cv_bridge::CvImage theora_image_transport::TheoraPublisher::img_image_

mutableprotected

Definition at line 87 of file theora_publisher.h.

ogg_uint32_t theora_image_transport::TheoraPublisher::keyframe_frequency_

mutableprotected

Definition at line 89 of file theora_publisher.h.

boost::shared_ptr<ReconfigureServer> theora_image_transport::TheoraPublisher::reconfigure_server_

protected

Definition at line 75 of file theora_publisher.h.

std::vector<theora_image_transport::Packet> theora_image_transport::TheoraPublisher::stream_header_

mutableprotected

Definition at line 91 of file theora_publisher.h.

The documentation for this class was generated from the following files:

Public Member Functions

Protected Types

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation