Program Listing for File as2_usb_camera_interface.hpp

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// Copyright 2024 Universidad Politécnica de Madrid
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#ifndef AS2_USB_CAMERA_INTERFACE__AS2_USB_CAMERA_INTERFACE_HPP_
#define AS2_USB_CAMERA_INTERFACE__AS2_USB_CAMERA_INTERFACE_HPP_

#include <tf2/LinearMath/Quaternion.h>
#include <cv_bridge/cv_bridge.h>

#include <vector>
#include <memory>
#include <string>

#include <rclcpp/rclcpp.hpp>
#include "as2_core/names/topics.hpp"
#include "as2_core/node.hpp"
#include "as2_core/sensor.hpp"

#include "sensor_msgs/image_encodings.hpp"
#include "sensor_msgs/msg/image.hpp"


#include <image_transport/image_transport.hpp>
#include <opencv2/calib3d.hpp>
#include <opencv2/highgui.hpp>
#include <opencv2/imgproc.hpp>
#include <opencv2/opencv.hpp>


namespace usb_camera_interface
{

class UsbCameraInterface : public as2::Node
{
public:
  explicit UsbCameraInterface(const rclcpp::NodeOptions & options = rclcpp::NodeOptions());

  ~UsbCameraInterface() {}

private:
  std::shared_ptr<as2::sensors::Camera> camera_;

  std::string device_port_;
  int image_width_;
  int image_height_;
  double framerate_;

  cv::VideoCapture cap_;

  void loadParameters();
  void captureImage();
  void setupCamera();
};

}  // namespace usb_camera_interface

#endif  // AS2_USB_CAMERA_INTERFACE__AS2_USB_CAMERA_INTERFACE_HPP_