sensor2D.hpp

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/******************************************************************************
 * Copyright (c) 2014
 * VoXel Interaction Design GmbH
 *
 * @author Angel Merino Sastre
 *
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 * furnished to do so, subject to the following conditions:
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#ifndef __SENSOR2D_HPP__
#define __SENSOR2D_HPP__


#include <gst/gst.h>
#include <string.h>
#include <math.h>
#include <stdio.h>
#include <glib-object.h>
#include <stdlib.h>
#include <gst/app/gstappsink.h>

#include <ros/ros.h>
#include <image_transport/image_transport.h>
#include <camera_info_manager/camera_info_manager.h>
#include <sensor_msgs/Image.h>
#include <sensor_msgs/CameraInfo.h>
#include <sensor_msgs/SetCameraInfo.h>
#include <sensor_msgs/image_encodings.h>
#include <boost/thread/locks.hpp>
//#include <opencv2/highgui/highgui.hpp>
//#include <cv_bridge/cv_bridge.h>


#include <ros/console.h>

namespace bta_ros {

        class Sensor2D
        {
                ros::NodeHandle nh_, nh_private_;
                std::string nodeName_;
                camera_info_manager::CameraInfoManager cim_rgb_;
                image_transport::ImageTransport it_;
                image_transport::CameraPublisher pub_rgb_;      
        
                std::string address_;
        
                GstElement *pipeline_;
                GstElement *appsink;
                GMainLoop *loop;
        
                //boost::thread* streaming;

 public:
 
        Sensor2D(ros::NodeHandle nh_camera, 
                                        ros::NodeHandle nh_private, 
                                        std::string nodeName);
        virtual ~Sensor2D();
        
        void init();
        void stop();
        void getFrame();

        };
}

#endif