imi_Driver.h

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#ifndef IMI_DRIVER_H
#define IMI_DRIVER_H

#include <ros/ros.h>
#include <sensor_msgs/Image.h>
#include <image_transport/image_transport.h>
#include <sensor_msgs/PointCloud2.h>
#include <boost/shared_ptr.hpp>
#include <dynamic_reconfigure/server.h>
#include <imi_camera/ImiConfig.h>

namespace imi_wrapper
{

    class ImiDevice;

        class ImiDriver
        {

        typedef imi_ros_cfg::ImiConfig Config;
        typedef dynamic_reconfigure::Server<Config> ReconfigureServer;
        public:
                ImiDriver(ros::NodeHandle &n, ros::NodeHandle &pnh);
                ~ImiDriver();
    private:
                int initDevice();
                void newColorFrameCallback(sensor_msgs::ImagePtr image);
                void newUVCFrameCallback(sensor_msgs::ImagePtr image);
                void newDepthFrameCallback(sensor_msgs::ImagePtr image);
        void newCloudPointCallback(boost::shared_ptr<sensor_msgs::PointCloud2> cloudPtr);
                void colorConnectCb();
                void uvcConnectCb();
                void depthConnectCb();
        void couldCb();
                void advertiseROSTopics();
        int startColorStream();
        int startUVCStream();
        int startDepthStream();
        void configCb(Config &config, uint32_t level);
        private:
                ros::NodeHandle& nh_;
                ros::NodeHandle& pnh_;
                ImiDevice* pImiDevice;
                bool color_subscribers_;
                bool depth_subscribers_;
        bool cloud_subscribers_;
        bool uvc_subscribers_;
                // published topics
                image_transport::CameraPublisher pub_color_;
                image_transport::CameraPublisher pub_depth_;
        ros::Publisher pub_cloud_;
        image_transport::CameraPublisher pub_uvc_;
        boost::shared_ptr<ReconfigureServer> reconfigure_server_;
        bool config_init;
        int depthMode;
        int colorMode;
        };
}

#endif