Program Listing for File points2_publisher.hpp

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/*
 * Copyright (c) 2021 Roboception GmbH
 * All rights reserved
 *
 * Author: Heiko Hirschmueller
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 * 1. Redistributions of source code must retain the above copyright notice,
 * this list of conditions and the following disclaimer.
 *
 * 2. Redistributions in binary form must reproduce the above copyright notice,
 * this list of conditions and the following disclaimer in the documentation
 * and/or other materials provided with the distribution.
 *
 * 3. Neither the name of the copyright holder nor the names of its contributors
 * may be used to endorse or promote products derived from this software without
 * specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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#ifndef RC_POINTS2PUBLISHER_H
#define RC_POINTS2PUBLISHER_H

#include "genicam2ros_publisher.hpp"

#include <rclcpp/rclcpp.hpp>
#include <sensor_msgs/msg/point_cloud2.hpp>

#include <rc_genicam_api/imagelist.h>

namespace rc
{

class Points2Publisher : public GenICam2RosPublisher
{
public:
  Points2Publisher(rclcpp::Node * node, const std::string & frame_id);

  bool used() override;
  void requiresComponents(int & components, bool & color) override;

  void publish(const rcg::Buffer * buffer, uint32_t part, uint64_t pixelformat) override;

private:
  Points2Publisher(const Points2Publisher &);              // forbidden
  Points2Publisher & operator=(const Points2Publisher &);  // forbidden

  rcg::ImageList left_list;
  rcg::ImageList disp_list;

  float f, t;
  float invalid;
  float scale;

  rclcpp::Node * node;
  std::shared_ptr<rclcpp::Publisher<sensor_msgs::msg::PointCloud2>> pub;
};

}  // namespace rc

#endif