camera_provider.hpp

/****************************************************************************
 *
 * Copyright 2023-2026 Auterion AG. All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 * 1. Redistributions of source code must retain the above copyright notice, this
 * list of conditions and the following disclaimer.
 *
 * 2. Redistributions in binary form must reproduce the above copyright notice,
 * this list of conditions and the following disclaimer in the documentation
 * and/or other materials provided with the distribution.
 *
 * 3. Neither the name of the copyright holder nor the names of its contributors
 * may be used to endorse or promote products derived from this software without
 * specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 *
 ****************************************************************************/
 
#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);
 
    std::string getUniqueCameraHash() const;
 
    std::string getUniqueCameraName() const;
 
    uint8_t* getImageBuffer(int plane = 0);
 
    void publishImageBuffer(const rclcpp::Time& timestamp);
 
    bool hasImageSubscribers() const;
 
    bool hasCameraInfoSubscribers() 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