.. _program_listing_file__tmp_ws_src_v4l2_camera_include_v4l2_camera_v4l2_camera.hpp:

Program Listing for File v4l2_camera.hpp
========================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_v4l2_camera_include_v4l2_camera_v4l2_camera.hpp>` (``/tmp/ws/src/v4l2_camera/include/v4l2_camera/v4l2_camera.hpp``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   // Copyright 2019 Bold Hearts
   //
   // Licensed under the Apache License, Version 2.0 (the "License");
   // you may not use this file except in compliance with the License.
   // You may obtain a copy of the License at
   //
   //     http://www.apache.org/licenses/LICENSE-2.0
   //
   // Unless required by applicable law or agreed to in writing, software
   // distributed under the License is distributed on an "AS IS" BASIS,
   // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
   // See the License for the specific language governing permissions and
   // limitations under the License.
   
   #ifndef V4L2_CAMERA__V4L2_CAMERA_HPP_
   #define V4L2_CAMERA__V4L2_CAMERA_HPP_
   
   #include "v4l2_camera/v4l2_camera_device.hpp"
   
   #include <memory>
   #include <string>
   #include <vector>
   
   #include <camera_info_manager/camera_info_manager.hpp>
   #include <image_transport/image_transport.hpp>
   #include <rcl_interfaces/msg/parameter.hpp>
   #include <rclcpp/rclcpp.hpp>
   
   #include "v4l2_camera/visibility_control.h"
   #include "v4l2_camera/parameters.hpp"
   
   namespace v4l2_camera
   {
   
   class V4L2Camera : public rclcpp::Node
   {
   public:
     explicit V4L2Camera(rclcpp::NodeOptions const & options);
   
     virtual ~V4L2Camera();
   
   private:
     Parameters parameters_;
   
     std::shared_ptr<V4l2CameraDevice> camera_;
   
     // Publisher used for intra process comm
     rclcpp::Publisher<sensor_msgs::msg::Image>::SharedPtr image_pub_;
     rclcpp::Publisher<sensor_msgs::msg::CameraInfo>::SharedPtr info_pub_;
   
     // Publisher used for inter process comm
     image_transport::CameraPublisher camera_transport_pub_;
   
     std::shared_ptr<camera_info_manager::CameraInfoManager> cinfo_;
   
     std::thread capture_thread_;
     std::atomic<bool> canceled_;
   
     std::string camera_frame_id_;
     std::string output_encoding_;
   
     rclcpp::node_interfaces::OnSetParametersCallbackHandle::SharedPtr on_set_parameters_callback_;
   
     void applyParameters();
     bool handleParameter(rclcpp::Parameter const & param);
   
     bool requestPixelFormat(std::string const & fourcc);
     bool requestImageSize(std::vector<int64_t> const & size);
   
     sensor_msgs::msg::Image::UniquePtr convert(sensor_msgs::msg::Image const & img) const;
   
     bool checkCameraInfo(
       sensor_msgs::msg::Image const & img,
       sensor_msgs::msg::CameraInfo const & ci);
   };
   
   }  // namespace v4l2_camera
   
   #endif  // V4L2_CAMERA__V4L2_CAMERA_HPP_