AsyncCamera.hpp

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#ifndef ASYNC_CAMERA_HPP
#define ASYNC_CAMERA_HPP
 
#include <thread>
#include <mutex>
#include <memory>
#include <atomic>
#include <utility>
#include <condition_variable>
 
#include "rclcpp/rclcpp.hpp"
#include <opencv2/core/core.hpp>
 
#include <functional>
 
#include <sensor_msgs/msg/image.hpp>
#include <image_transport/image_transport.h>
#include <cv_bridge/cv_bridge.h>
 
// (new) alvium camera: Vimba Lib
#include "VimbaCPP/Include/VimbaCPP.h"
using AVT::VmbAPI::VimbaSystem;
 
class CameraFrameObserver : virtual public AVT::VmbAPI::IFrameObserver {
  private:
  cv_bridge::CvImage m_bridgeImg;
  std::shared_ptr<sensor_msgs::msg::Image> m_currentImageSPtr;
  std::mutex m_currentImageSPtrMutex;
  std::condition_variable m_newImageConditionVar;
 
  rclcpp::Clock m_rosClock;
 
  AVT::VmbAPI::CameraPtr m_cameraPtr;
 
  public:
  CameraFrameObserver( AVT::VmbAPI::CameraPtr camera );
  ~CameraFrameObserver();
  virtual void FrameReceived( const AVT::VmbAPI::FramePtr pFrame );
 
  std::shared_ptr<sensor_msgs::msg::Image> PopLastImage(bool blocking);
};
 
class AlviumAsyncCamera {
  private:
  CameraFrameObserver* m_frameObserver;
 
  std::atomic<bool> m_runGrabbing;
 
  VimbaSystem &m_vimbaSystem; // reference to vimba singleton
  AVT::VmbAPI::CameraPtr m_camera;
 
  public:
  AlviumAsyncCamera();
  ~AlviumAsyncCamera();
 
  bool start_grabbing_detached();
  void stop_grabbing_detached();
  std::shared_ptr<sensor_msgs::msg::Image> pop_image(bool blocking);
};
 
#endif // ASYNC_CAMERA_HPP