theora_publisher.h
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34 
36 #include <cv_bridge/cv_bridge.h>
37 #include <std_msgs/Header.h>
38 #include <dynamic_reconfigure/server.h>
39 #include <theora_image_transport/TheoraPublisherConfig.h>
40 #include <theora_image_transport/Packet.h>
41 
42 #include <theora/codec.h>
43 #include <theora/theoraenc.h>
44 #include <theora/theoradec.h>
45 
47 
48 class TheoraPublisher : public image_transport::SimplePublisherPlugin<theora_image_transport::Packet>
49 {
50 public:
52 
54 
55  // Return the system unique string representing the theora transport type
56  virtual std::string getTransportName() const { return "theora"; }
57 
58 protected:
59  // Overridden to tweak arguments and set up reconfigure server
60  virtual void advertiseImpl(ros::NodeHandle &nh, const std::string &base_topic, uint32_t queue_size,
61  const image_transport::SubscriberStatusCallback &user_connect_cb,
62  const image_transport::SubscriberStatusCallback &user_disconnect_cb,
63  const ros::VoidPtr &tracked_object, bool latch);
64 
65  // Callback to send header packets to new clients
66  virtual void connectCallback(const ros::SingleSubscriberPublisher& pub);
67 
68  // Main publish function
69  virtual void publish(const sensor_msgs::Image& message,
70  const PublishFn& publish_fn) const;
71 
72  // Dynamic reconfigure support
73  typedef theora_image_transport::TheoraPublisherConfig Config;
74  typedef dynamic_reconfigure::Server<Config> ReconfigureServer;
76 
77  void configCb(Config& config, uint32_t level);
78 
79  // Utility functions
80  bool ensureEncodingContext(const sensor_msgs::Image& image, const PublishFn& publish_fn) const;
81  void oggPacketToMsg(const std_msgs::Header& header, const ogg_packet &oggpacket,
82  theora_image_transport::Packet &msg) const;
83  void updateKeyframeFrequency() const;
84 
85  // Some data is preserved across calls to publish(), but from the user's perspective publish() is
86  // "logically const"
88  mutable th_info encoder_setup_;
89  mutable ogg_uint32_t keyframe_frequency_;
91  mutable std::vector<theora_image_transport::Packet> stream_header_;
92 };
93 
94 } //namespace compressed_image_transport
virtual std::string getTransportName() const
boost::function< void(const SingleSubscriberPublisher &)> SubscriberStatusCallback
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
boost::function< void(const theora_image_transport::Packet &)> PublishFn
std::vector< theora_image_transport::Packet > stream_header_
boost::shared_ptr< ReconfigureServer > reconfigure_server_
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)
theora_image_transport::TheoraPublisherConfig Config
dynamic_reconfigure::Server< Config > ReconfigureServer
boost::shared_ptr< th_enc_ctx > encoding_context_
void configCb(Config &config, uint32_t level)
virtual void publish(const sensor_msgs::Image &message, const PublishFn &publish_fn) const


theora_image_transport
Author(s): Patrick Mihelich, Ethan Dreyfuss
autogenerated on Tue Jul 2 2019 19:10:14