refactored gstreamer pipeline

include/image2rtsp.hpp

@@ -17,17 +17,13 @@ public:
     GstRTSPServer *rtsp_server;
 
 private:
-    string source;
     string topic;
     string mountpoint;
-    string bitrate;
-    string framerate;
-    string caps_1;
-    string caps_2;
     string port;
     string pipeline;
-    string pipeline_head;
-    string pipeline_tail;
+    string default_pipeline;
+    string camera_pipeline;
+    uint framerate;
     bool local_only;
     bool camera;
     bool compressed;
@@ -37,6 +33,7 @@ private:
     void rtsp_server_add_url(const char *url, const char *sPipeline, GstElement **appsrc);
     void topic_callback(const sensor_msgs::msg::Image::SharedPtr msg);
     void compressed_topic_callback(const sensor_msgs::msg::CompressedImage::SharedPtr msg);
+    uint extract_framerate(const std::string& pipeline, uint default_framerate);
     GstRTSPServer *rtsp_server_create(const string &port, const bool local_only);
     GstCaps *gst_caps_new_from_image(const sensor_msgs::msg::Image::SharedPtr &msg);
     rclcpp::Subscription<sensor_msgs::msg::Image>::SharedPtr subscription_;