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00018 #ifndef CAMERA_H
00019 #define CAMERA_H
00020
00021 #include <QThread>
00022 #ifndef Q_MOC_RUN
00023 #include <ros/ros.h>
00024 #include <sensor_msgs/Image.h>
00025 #include <ros/callback_queue.h>
00026 #endif
00027
00028 class CameraThread : public QThread
00029 {
00030 Q_OBJECT
00031 public:
00032 explicit CameraThread(QObject *parent = 0, std::string topicName = "");
00033 void onImage(const sensor_msgs::Image::ConstPtr& msg);
00034
00035 protected:
00036 void run();
00037
00038 private:
00039 std::string topicName;
00040 ros::Subscriber a;
00041
00042
00043 signals:
00044 void imageReceived(const sensor_msgs::Image::ConstPtr& msg);
00045
00046 public slots:
00047
00048 };
00049
00050 #endif // CAMERA_H