#pragma once

#include <rclcpp/rclcpp.hpp>
#include <sensor_msgs/msg/image.hpp>
#include "message_filters/subscriber.h"
#include "message_filters/time_synchronizer.h"
#include "message_filters/sync_policies/approximate_time.hpp"
#include "interfaces/msg/img_msg.hpp"
using namespace std;
namespace img_dev{
    
    class ImageSubscriber : public rclcpp::Node {
        public:
            ImageSubscriber() ;
	    void pub_msg(const sensor_msgs::msg::Image& c_img,const sensor_msgs::msg::Image& d_img,const ImgCfg& cfg);
        private:
            rclcpp::Publisher<interfaces::msg::ImgMsg>::SharedPtr img_pub;
            std::shared_ptr<interfaces::msg::ImgMsg> img_msg; 
    };
}
