barcode_reader_nodelet.h

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#ifndef ZBAR_ROS_ZBAR_ROS_NODELET_H
#define ZBAR_ROS_ZBAR_ROS_NODELET_H

#include "ros/ros.h"
#include "opencv/cv.h"
#include "cv_bridge/cv_bridge.h"
#include "zbar.h"
#include "boost/unordered_map.hpp"
#include <string>
#include "nodelet/nodelet.h"

namespace zbar_ros
{

  class BarcodeReaderNodelet : public nodelet::Nodelet
  {
  public:
    BarcodeReaderNodelet();

  private:
    virtual void onInit();
    void connectCb();
    void disconnectCb();
    void imageCb(const sensor_msgs::ImageConstPtr &image);
    void cleanCb();

    ros::NodeHandle nh_, private_nh_;
    ros::Subscriber camera_sub_;
    ros::Publisher barcode_pub_;
    ros::Timer clean_timer_;
    zbar::ImageScanner scanner_;
    boost::unordered_map<std::string, ros::Time> barcode_memory_;

    double throttle_;
  };

}  // namespace zbar_ros

#endif  // ZBAR_ROS_ZBAR_ROS_NODELET_H