camera_provider.hpp

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#pragma once
 
#include <rclcpp/rclcpp.hpp>
 
#include "camera.hpp"
 
namespace auterion {
class CameraProviderImpl;
 
class CameraProvider {
   public:
    CameraProvider(SDK& sdk, const std::string& device_driver, const std::string& device_identifier,
                   const CameraDescriptor& camera_descriptor);
    ~CameraProvider() = default;
 
    bool configureImage(int width, int height, ImageHeader::Encoding encoding, int step = 0);
 
    uint8_t* getImageBuffer(int plane = 0);
 
    void publishImageBuffer(const rclcpp::Time& timestamp);
 
    bool hasImageSubscribers() const;
 
    void publishCameraInfo(const sensor_msgs::msg::CameraInfo& info) const;
 
    void updateExtrinsics(const Eigen::Vector3d& translation, const Eigen::Quaterniond& rotation,
                          const rclcpp::Time& timestamp);
 
    void updateExtrinsics(const Eigen::Vector3d& translation, const Eigen::Quaterniond& rotation);
 
   private:
    std::shared_ptr<CameraProviderImpl> _impl;
};
 
}  // namespace auterion