driver.h

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// Copyright [2015] Takashi Ogura<t.ogura@gmail.com>

#ifndef CV_CAMERA_DRIVER_H
#define CV_CAMERA_DRIVER_H

#include "cv_camera/capture.h"

namespace cv_camera
{

class Driver
{
 public:
  Driver(ros::NodeHandle& private_node,
         ros::NodeHandle& camera_node);
  ~Driver();

  void setup();
  void proceed();
 private:
  ros::NodeHandle private_node_;
  ros::NodeHandle camera_node_;
  boost::shared_ptr<Capture> camera_;

  boost::shared_ptr<ros::Rate> rate_;
};

}  // namespace cv_camera

#endif  // CV_CAMERA_DRIVER_H