00001 #ifndef _CAMERA_COMMON_H 00002 #define _CAMERA_COMMON_H 00003 00004 // image transport 00005 #include "image_transport/image_transport.h" 00006 #include <camera_info_manager/camera_info_manager.h> 00007 00008 // [publisher subscriber headers] 00009 #include <sensor_msgs/Image.h> 00010 00011 typedef struct 00012 { 00013 unsigned int width; 00014 unsigned int height; 00015 unsigned int left_offset; 00016 unsigned int top_offset; 00017 depths_t depth; 00018 codings_t coding; 00019 float framerate; 00020 }TCameraConfig; 00021 00022 typedef struct 00023 { 00024 image_transport::ImageTransport *it; 00025 image_transport::CameraPublisher camera_image_publisher_; 00026 sensor_msgs::Image Image_msg_; 00027 sensor_msgs::CameraInfo CameraInfo_msg_; 00028 }TROSCamera; 00029 00030 #endif