theora_image_transport::TheoraPublisher Class Reference

#include <theora_publisher.h>

Inheritance diagram for theora_image_transport::TheoraPublisher:

[legend]

List of all members.

Public Member Functions
virtual std::string	getTransportName () const
	TheoraPublisher ()
	~TheoraPublisher ()
Protected Types
typedef theora_image_transport::TheoraPublisherConfig	Config
typedef dynamic_reconfigure::Server < Config >	ReconfigureServer
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 roslib::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 Attributes
th_info	encoder_setup_
boost::shared_ptr< th_enc_ctx >	encoding_context_
sensor_msgs::CvBridge	img_bridge_
ogg_uint32_t	keyframe_frequency_
boost::shared_ptr < ReconfigureServer >	reconfigure_server_
std::vector < theora_image_transport::Packet >	stream_header_

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Detailed Description

Definition at line 15 of file theora_publisher.h.

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Member Typedef Documentation

typedef theora_image_transport::TheoraPublisherConfig theora_image_transport::TheoraPublisher::Config [protected]

Definition at line 40 of file theora_publisher.h.

typedef dynamic_reconfigure::Server<Config> theora_image_transport::TheoraPublisher::ReconfigureServer [protected]

Definition at line 41 of file theora_publisher.h.

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Constructor & Destructor Documentation

theora_image_transport::TheoraPublisher::TheoraPublisher

(

)

Definition at line 11 of file theora_publisher.cpp.

theora_image_transport::TheoraPublisher::~TheoraPublisher

(

)

Definition at line 30 of file theora_publisher.cpp.

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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
	)			[protected, virtual]

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

Definition at line 35 of file theora_publisher.cpp.

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

Definition at line 54 of file theora_publisher.cpp.

void theora_image_transport::TheoraPublisher::connectCallback

(

const ros::SingleSubscriberPublisher &

pub

)

[protected, virtual]

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

Definition at line 103 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 189 of file theora_publisher.cpp.

virtual std::string theora_image_transport::TheoraPublisher::getTransportName

(

)

const [inline, virtual]

Implements image_transport::PublisherPlugin.

Definition at line 23 of file theora_publisher.h.

void theora_image_transport::TheoraPublisher::oggPacketToMsg	(	const roslib::Header &	header,
		const ogg_packet &	oggpacket,
		theora_image_transport::Packet &	msg
	)			const [protected]

Definition at line 230 of file theora_publisher.cpp.

void theora_image_transport::TheoraPublisher::publish	(	const sensor_msgs::Image &	message,
		const PublishFn &	publish_fn
	)			const [protected, virtual]

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 119 of file theora_publisher.cpp.

void theora_image_transport::TheoraPublisher::updateKeyframeFrequency

(

)

const [protected]

Definition at line 242 of file theora_publisher.cpp.

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Member Data Documentation

th_info theora_image_transport::TheoraPublisher::encoder_setup_ [mutable, protected]

Definition at line 55 of file theora_publisher.h.

boost::shared_ptr<th_enc_ctx> theora_image_transport::TheoraPublisher::encoding_context_ [mutable, protected]

Definition at line 57 of file theora_publisher.h.

sensor_msgs::CvBridge theora_image_transport::TheoraPublisher::img_bridge_ [mutable, protected]

Definition at line 54 of file theora_publisher.h.

ogg_uint32_t theora_image_transport::TheoraPublisher::keyframe_frequency_ [mutable, protected]

Definition at line 56 of file theora_publisher.h.

boost::shared_ptr<ReconfigureServer> theora_image_transport::TheoraPublisher::reconfigure_server_ [protected]

Definition at line 42 of file theora_publisher.h.

std::vector<theora_image_transport::Packet> theora_image_transport::TheoraPublisher::stream_header_ [mutable, protected]

Definition at line 58 of file theora_publisher.h.

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

• theora_publisher.h
• theora_publisher.cpp