46 lines
1.3 KiB
C++
46 lines
1.3 KiB
C++
#ifndef IMAGE2RTSP_IMAGE2RTSP_HPP
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#define IMAGE2RTSP_IMAGE2RTSP_HPP
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#include <gst/gst.h>
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#include <gst/rtsp-server/rtsp-server.h>
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#include <rclcpp/rclcpp.hpp>
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#include <string>
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#include "sensor_msgs/msg/image.hpp"
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using namespace std;
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class Image2rtsp : public rclcpp::Node{
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public:
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Image2rtsp();
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GstRTSPServer *rtsp_server;
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private:
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string source;
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string topic;
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string mountpoint;
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string bitrate;
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string framerate;
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string caps_1;
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string caps_2;
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string port;
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string pipeline;
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string pipeline_head;
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string pipeline_tail;
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bool local_only;
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bool camera;
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GstAppSrc *appsrc;
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void video_mainloop_start();
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void rtsp_server_add_url(const char *url, const char *sPipeline, GstElement **appsrc);
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void topic_callback(const sensor_msgs::msg::Image::SharedPtr msg);
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GstRTSPServer *rtsp_server_create(const string &port, const bool local_only);
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GstCaps *gst_caps_new_from_image(const sensor_msgs::msg::Image::SharedPtr &msg);
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rclcpp::Subscription<sensor_msgs::msg::Image>::SharedPtr subscription_;
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};
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static void media_configure(GstRTSPMediaFactory *factory, GstRTSPMedia *media, GstElement **appsrc);
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static void *mainloop(void *arg);
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static gboolean session_cleanup(Image2rtsp *node, rclcpp::Logger logger, gboolean ignored);
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#endif // IMAGE2RTSP_IMAGE2RTSP_HPP
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