27 lines
714 B
C++
27 lines
714 B
C++
#ifndef IMAGE_TO_RTSP_H
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#define IMAGE_TO_RTSP_H
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namespace image2rtsp {
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class Image2RTSPNodelet : public nodelet::Nodelet {
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public:
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GstRTSPServer *rtsp_server;
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void onInit();
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void url_connected(std::string url);
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void url_disconnected(std::string url);
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void print_info(char *s);
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void print_error(char *s);
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private:
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ros::Subscriber sub;
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GstAppSrc *appsrc;
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int num;
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GstCaps* gst_caps_new_from_image(const sensor_msgs::Image::ConstPtr &msg);
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void imageCallback(const sensor_msgs::Image::ConstPtr& msg);
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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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GstRTSPServer *rtsp_server_create();
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};
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}
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#endif
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