47 lines
1.5 KiB
C++
Executable File
47 lines
1.5 KiB
C++
Executable File
#ifndef IMAGE2RTSP__IMAGE2RTSP_HPP_
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#define IMAGE2RTSP__IMAGE2RTSP_HPP_
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#include "visibility_control.h"
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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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#include <gst/app/gstappsrc.h>
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using namespace std;
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class Image2rtsp : public rclcpp::Node
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{
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public:
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IMAGE2RTSP_PUBLIC
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explicit Image2rtsp(const rclcpp::NodeOptions & options);
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GstRTSPServer *rtsp_server;
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private:
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string topic = "/color/image_raw";
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string mountpoint = "/rs";
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string bitrate = "500";
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string framerate = "30";
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string caps = "video/x-raw,framerate=" + framerate + "/1,width=1280,height=720";
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string port = "8554";
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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 = false;
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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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