.. _program_listing_file__tmp_ws_src_webots_ros2_webots_ros2_driver_include_webots_ros2_driver_plugins_static_Ros2Camera.hpp:

Program Listing for File Ros2Camera.hpp
=======================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_webots_ros2_webots_ros2_driver_include_webots_ros2_driver_plugins_static_Ros2Camera.hpp>` (``/tmp/ws/src/webots_ros2/webots_ros2_driver/include/webots_ros2_driver/plugins/static/Ros2Camera.hpp``)

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

.. code-block:: cpp

   // Copyright 1996-2023 Cyberbotics Ltd.
   //
   // 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 ROS2_CAMERA_HPP
   #define ROS2_CAMERA_HPP
   
   #include <unordered_map>
   
   #include <webots/camera.h>
   
   #include <geometry_msgs/msg/point.hpp>
   #include <geometry_msgs/msg/quaternion.hpp>
   #include <geometry_msgs/msg/transform_stamped.hpp>
   #include <sensor_msgs/image_encodings.hpp>
   #include <sensor_msgs/msg/camera_info.hpp>
   #include <sensor_msgs/msg/image.hpp>
   #include <std_msgs/msg/color_rgba.hpp>
   #include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>
   #include <vision_msgs/msg/detection2_d.hpp>
   #include <vision_msgs/msg/detection2_d_array.hpp>
   #include <vision_msgs/msg/object_hypothesis_with_pose.hpp>
   
   #include <webots_ros2_driver/WebotsNode.hpp>
   #include <webots_ros2_driver/plugins/Ros2SensorPlugin.hpp>
   #include <webots_ros2_driver/utils/Math.hpp>
   #include <webots_ros2_msgs/msg/camera_recognition_object.hpp>
   #include <webots_ros2_msgs/msg/camera_recognition_objects.hpp>
   
   namespace webots_ros2_driver {
   
     class Ros2Camera : public Ros2SensorPlugin {
     public:
       void init(webots_ros2_driver::WebotsNode *node, std::unordered_map<std::string, std::string> &parameters) override;
       void step() override;
   
     private:
       void publishImage();
       void publishRecognition();
   
       WbDeviceTag mCamera;
   
       std::string mCameraInfoSuffix;
       std::string mImageSuffix;
   
       rclcpp::Publisher<sensor_msgs::msg::Image>::SharedPtr mImagePublisher;
       sensor_msgs::msg::Image mImageMessage;
   
       rclcpp::Publisher<sensor_msgs::msg::CameraInfo>::SharedPtr mCameraInfoPublisher;
       sensor_msgs::msg::CameraInfo mCameraInfoMessage;
   
       rclcpp::Publisher<vision_msgs::msg::Detection2DArray>::SharedPtr mRecognitionPublisher;
       rclcpp::Publisher<webots_ros2_msgs::msg::CameraRecognitionObjects>::SharedPtr mWebotsRecognitionPublisher;
       vision_msgs::msg::Detection2DArray mRecognitionMessage;
       webots_ros2_msgs::msg::CameraRecognitionObjects mWebotsRecognitionMessage;
   
       bool mIsEnabled;
       bool mRecognitionIsEnabled;
     };
   
   }  // namespace webots_ros2_driver
   
   #endif