.. _program_listing_file__tmp_ws_src_depthai-ros_depthai_ros_driver_include_depthai_ros_driver_dai_nodes_sensors_rgb.hpp:

Program Listing for File rgb.hpp
================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_depthai-ros_depthai_ros_driver_include_depthai_ros_driver_dai_nodes_sensors_rgb.hpp>` (``/tmp/ws/src/depthai-ros/depthai_ros_driver/include/depthai_ros_driver/dai_nodes/sensors/rgb.hpp``)

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

.. code-block:: cpp

   #pragma once
   
   #include "depthai_ros_driver/dai_nodes/base_node.hpp"
   #include "image_transport/camera_publisher.hpp"
   #include "image_transport/image_transport.hpp"
   #include "sensor_msgs/msg/camera_info.hpp"
   #include "sensor_msgs/msg/image.hpp"
   
   namespace dai {
   class Pipeline;
   class Device;
   class DataOutputQueue;
   class DataInputQueue;
   enum class CameraBoardSocket;
   class ADatatype;
   namespace node {
   class ColorCamera;
   class XLinkIn;
   class XLinkOut;
   class VideoEncoder;
   }  // namespace node
   namespace ros {
   class ImageConverter;
   }
   }  // namespace dai
   
   namespace rclcpp {
   class Node;
   class Parameter;
   }  // namespace rclcpp
   
   namespace camera_info_manager {
   class CameraInfoManager;
   }
   
   namespace depthai_ros_driver {
   namespace param_handlers {
   class SensorParamHandler;
   }
   namespace dai_nodes {
   
   namespace sensor_helpers {
   struct ImageSensor;
   }
   
   class RGB : public BaseNode {
      public:
       explicit RGB(const std::string& daiNodeName,
                    rclcpp::Node* node,
                    std::shared_ptr<dai::Pipeline> pipeline,
                    dai::CameraBoardSocket socket,
                    sensor_helpers::ImageSensor sensor,
                    bool publish);
       ~RGB();
       void updateParams(const std::vector<rclcpp::Parameter>& params) override;
       void setupQueues(std::shared_ptr<dai::Device> device) override;
       void link(dai::Node::Input in, int linkType = 0) override;
       void setNames() override;
       void setXinXout(std::shared_ptr<dai::Pipeline> pipeline) override;
       void closeQueues() override;
   
      private:
       std::unique_ptr<dai::ros::ImageConverter> imageConverter;
       image_transport::CameraPublisher rgbPubIT, previewPubIT;
       rclcpp::Publisher<sensor_msgs::msg::Image>::SharedPtr rgbPub, previewPub;
       rclcpp::Publisher<sensor_msgs::msg::CameraInfo>::SharedPtr rgbInfoPub, previewInfoPub;
       std::shared_ptr<camera_info_manager::CameraInfoManager> infoManager, previewInfoManager;
       std::shared_ptr<dai::node::ColorCamera> colorCamNode;
       std::shared_ptr<dai::node::VideoEncoder> videoEnc;
       std::unique_ptr<param_handlers::SensorParamHandler> ph;
       std::shared_ptr<dai::DataOutputQueue> colorQ, previewQ;
       std::shared_ptr<dai::DataInputQueue> controlQ;
       std::shared_ptr<dai::node::XLinkOut> xoutColor, xoutPreview;
       std::shared_ptr<dai::node::XLinkIn> xinControl;
       std::string ispQName, previewQName, controlQName;
   };
   
   }  // namespace dai_nodes
   }  // namespace depthai_ros_driver