//
// Created by qiayuan on 6/30/20.
//

#ifndef SRC_GALAXY_CAMERA_INCLUDE_GALAXY_CAMERA_NODE_H_
#define SRC_GALAXY_CAMERA_INCLUDE_GALAXY_CAMERA_NODE_H_

#include "galaxy_camera.h"
#include <camera_info_manager/camera_info_manager.h>

namespace galaxy_camera {
    class GalaxyCameraNode {
    public:
        GalaxyCameraNode();

        ~GalaxyCameraNode();

        ros::NodeHandle nh_;
        image_transport::CameraPublisher image_pub_;
        boost::shared_ptr<camera_info_manager::CameraInfoManager> info_;
    private:
        GalaxyCamera *galaxy_camera_;
        bool trigger_open_;
        std::string camera_name_, camera_info_url_, pixel_format_;
        int image_width_{}, image_height_{}, image_offset_x_{}, image_offset_y_{};

    };

}
#endif //SRC_GALAXY_CAMERA_INCLUDE_GALAXY_CAMERA_NODE_H_