00001 /* 00002 * Copyright (C) 2012, Laboratorio de Robotica Movel - ICMC/USP 00003 * Rafael Luiz Klaser <rlklaser@gmail.com> 00004 * http://lrm.icmc.usp.br 00005 * 00006 * Apoio FAPESP: 2012/04555-4 00007 * 00008 * This program is free software: you can redistribute it and/or modify 00009 * it under the terms of the GNU General Public License as published by 00010 * the Free Software Foundation, either version 3 of the License, or 00011 * (at your option) any later version. 00012 * 00013 * This program is distributed in the hope that it will be useful, 00014 * but WITHOUT ANY WARRANTY; without even the implied warranty of 00015 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 00016 * GNU General Public License for more details. 00017 * 00018 * You should have received a copy of the GNU General Public License 00019 * along with this program. If not, see <http://www.gnu.org/licenses/>. 00020 */ 00021 00030 #ifndef SPLIT_NODE_H_ 00031 #define SPLIT_NODE_H_ 00032 00033 #include <sensor_msgs/Image.h> 00034 #include <camera_info_manager/camera_info_manager.h> 00035 #include <image_transport/camera_publisher.h> 00036 #include <image_transport/subscriber.h> 00037 00038 struct st_camera { 00039 sensor_msgs::Image image; 00040 sensor_msgs::CameraInfo info; 00041 image_transport::CameraPublisher publisher; 00042 boost::shared_ptr<camera_info_manager::CameraInfoManager> manager; 00043 std::string url; 00044 }; 00045 00046 struct st_stereo_camera { 00047 struct st_camera left; 00048 struct st_camera right; 00049 std::string frame_id; 00050 std::string name; 00051 }; 00052 00053 #endif /* SPLIT_NODE_H_ */