ros_camera.hpp

// Copyright 2022 Jacob Hartzer
//
// This program is free software: you can redistribute it and/or modify
// it under the terms of the GNU General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
// (at your option) any later version.
//
// This program is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
// GNU General Public License for more details.
//
// You should have received a copy of the GNU General Public License
// along with this program.  If not, see <https://www.gnu.org/licenses/>.
 
#ifndef SENSORS__ROS__ROS_CAMERA_HPP_
#define SENSORS__ROS__ROS_CAMERA_HPP_
 
#include <memory>
 
#include <sensor_msgs/msg/image.hpp>
 
#include "sensors/camera.hpp"
#include "sensors/ros/ros_camera_message.hpp"
#include "trackers/feature_tracker.hpp"
 
class RosCamera : public Camera
{
public:
  explicit RosCamera(Camera::Parameters camera_parameters);
 
  void Callback(const RosCameraMessage & ros_camera_message);
 
  sensor_msgs::msg::Image::SharedPtr GetRosImage();
 
  void AddTracker(std::shared_ptr<FeatureTracker> tracker);
 
private:
  sensor_msgs::msg::Image::SharedPtr m_out_ros_img;
};
 
#endif  // SENSORS__ROS__ROS_CAMERA_HPP_