.. _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 ` (``/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 pipeline, dai::CameraBoardSocket socket, sensor_helpers::ImageSensor sensor, bool publish); ~RGB(); void updateParams(const std::vector& params) override; void setupQueues(std::shared_ptr device) override; void link(dai::Node::Input in, int linkType = 0) override; void setNames() override; void setXinXout(std::shared_ptr pipeline) override; void closeQueues() override; private: std::unique_ptr imageConverter; image_transport::CameraPublisher rgbPubIT, previewPubIT; rclcpp::Publisher::SharedPtr rgbPub, previewPub; rclcpp::Publisher::SharedPtr rgbInfoPub, previewInfoPub; std::shared_ptr infoManager, previewInfoManager; std::shared_ptr colorCamNode; std::shared_ptr videoEnc; std::unique_ptr ph; std::shared_ptr colorQ, previewQ; std::shared_ptr controlQ; std::shared_ptr xoutColor, xoutPreview; std::shared_ptr xinControl; std::string ispQName, previewQName, controlQName; }; } // namespace dai_nodes } // namespace depthai_ros_driver