CarlaRGBCameraPublisher.h

浏览该文件的文档.

// Copyright (c) 2022 Computer Vision Center (CVC) at the Universitat Autonoma de Barcelona (UAB).
// This work is licensed under the terms of the MIT license.
// For a copy, see <https://opensource.org/licenses/MIT>.
 
#pragma once
#define _GLIBCXX_USE_CXX11_ABI 0
 
#include <memory>
#include <vector>
 
#include "CarlaPublisher.h"
 
namespace carla {
namespace ros2 {
 
  struct CarlaRGBCameraPublisherImpl;
  struct CarlaCameraInfoPublisherImpl;
 
  class CarlaRGBCameraPublisher : public CarlaPublisher {
    public:
      CarlaRGBCameraPublisher(const char* ros_name = "", const char* parent = "");
      ~CarlaRGBCameraPublisher();
      CarlaRGBCameraPublisher(const CarlaRGBCameraPublisher&);
      CarlaRGBCameraPublisher& operator=(const CarlaRGBCameraPublisher&);
      CarlaRGBCameraPublisher(CarlaRGBCameraPublisher&&);
      CarlaRGBCameraPublisher& operator=(CarlaRGBCameraPublisher&&);
 
      bool Init();
      void InitInfoData(uint32_t x_offset, uint32_t y_offset, uint32_t height, uint32_t width, float fov, bool do_rectify);
      bool Publish();
 
      bool HasBeenInitialized() const;
      void SetImageData(int32_t seconds, uint32_t nanoseconds, uint32_t height, uint32_t width, const uint8_t* data);
      void SetCameraInfoData(int32_t seconds, uint32_t nanoseconds);
      const char* type() const override { return "rgb camera"; }
 
    private:
      bool InitImage();
      bool InitInfo();
      bool PublishImage();
      bool PublishInfo();
 
      void SetImageData(int32_t seconds, uint32_t nanoseconds, uint32_t height, uint32_t width, std::vector<uint8_t>&& data);
      void SetInfoRegionOfInterest(uint32_t x_offset, uint32_t y_offset, uint32_t height, uint32_t width, bool do_rectify);
 
    private:
      std::shared_ptr<CarlaRGBCameraPublisherImpl> _impl;
      std::shared_ptr<CarlaCameraInfoPublisherImpl> _impl_info;
  };
}
}