OpenDDS传输图像或视频的IDL定义

例：

module msg {
	typedef octet ImgData[40000];
	#pragma DCPS_DATA_TYPE "msg::Message"
	#pragma DCPS_DATA_KEY "msg::Message subject_id"
	struct Message {
		long subject_id;
		ImgData img;
  };
};

这里的40000根据具体的需求而定，我测试的480*640分辨率视频YUV（存储计算：原RGB=480x640x3,YUV=480x640x3/2）压缩H264裸流，每一帧数据在5000-35000之间

数据填入(Publisher)：

msg::Message msg_test;
msg_test.subject_id=1;
unsigned char* data_buf= (unsigned char*)malloc(40000);
memcpy(msg_test.img, data_buf, 40000);
message_writer->write(msg_test, DDS::HANDLE_NIL);//（message_writer是前面自定义的数据写入器）
free(data_buf);//最后别忘了