mono_camera.h

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#ifndef MONO_CAMERA_H
#define MONO_CAMERA_H

#include <avt_vimba_camera/avt_vimba_camera.h>
#include <avt_vimba_camera/AvtVimbaCameraConfig.h>
#include <avt_vimba_camera/avt_vimba_api.h>

#include <ros/ros.h>
#include <sensor_msgs/Image.h>
#include <sensor_msgs/CameraInfo.h>
#include <camera_info_manager/camera_info_manager.h>
#include <image_transport/image_transport.h>
#include <dynamic_reconfigure/server.h>

#include <string>

namespace avt_vimba_camera
{
class MonoCamera
{
public:
  MonoCamera(ros::NodeHandle& nh, ros::NodeHandle& nhp);
  ~MonoCamera(void);

private:
  AvtVimbaApi api_;
  AvtVimbaCamera cam_;

  ros::NodeHandle nh_;
  ros::NodeHandle nhp_;

  std::string ip_;
  std::string guid_;
  std::string camera_info_url_;
  std::string frame_id_;
  bool print_all_features_;
  bool use_measurement_time_;
  int32_t ptp_offset_;

  image_transport::ImageTransport it_;
  image_transport::CameraPublisher pub_;

  std::shared_ptr<camera_info_manager::CameraInfoManager> info_man_;

  // Dynamic reconfigure
  typedef avt_vimba_camera::AvtVimbaCameraConfig Config;
  typedef dynamic_reconfigure::Server<Config> ReconfigureServer;
  ReconfigureServer reconfigure_server_{nhp_};

  // Camera configuration
  Config camera_config_;

  void frameCallback(const FramePtr& vimba_frame_ptr);
  void configure(Config& newconfig, uint32_t level);
  void updateCameraInfo(const Config& config);
};
}  // namespace avt_vimba_camera
#endif