VCINode.hpp

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#ifndef VCINODE_HPP
#define VCINODE_HPP
 
#include <memory>
#include <mutex>
 
#include "AsyncCamera.hpp"
 
#include "rclcpp/rclcpp.hpp"
#include <galaxis/GalaxisNode.hpp>
 
#include <sensor_msgs/msg/image.hpp>
#include <image_transport/image_transport.h>
#include <cv_bridge/cv_bridge.h>
 
#include <functional>
#include <memory>
#include <chrono>
 
#include "com/SharedMemory.hpp"
 
using namespace cv;
 
class VCINodeAsync : public GalaxisNode {
private:
  AlviumAsyncCamera m_camera;
  image_transport::Publisher m_laneImagePublisher;
  rclcpp::Publisher<sensor_msgs::msg::Image>::SharedPtr m_imagePublisherNew;
 
  cv_bridge::CvImage m_imgBridge;
 
  com::SharedMemory m_sharedMemory;
  size_t m_imageSizeBytes = 512*256*3; // width * height * RGB
 
public:
  VCINodeAsync();
 
private:
  void camera_publish_loop();
  // void camera_callback(std::pair<std::shared_ptr<rclcpp::Time>, std::shared_ptr<cv::Mat>> imgSPtr);
};
 
#endif // VCINODE_HPP