00001 #include <boost/thread.hpp>
00002
00003 #include <ros/ros.h>
00004 #include <ros/time.h>
00005
00006 #include "uvc_cam/uvc_cam.h"
00007 #include "sensor_msgs/Image.h"
00008 #include "sensor_msgs/image_encodings.h"
00009 #include "sensor_msgs/CameraInfo.h"
00010 #include "camera_info_manager/camera_info_manager.h"
00011 #include "image_transport/image_transport.h"
00012
00013 namespace uvc_camera {
00014
00015 class StereoCamera {
00016 public:
00017 StereoCamera(ros::NodeHandle comm_nh, ros::NodeHandle param_nh);
00018 void onInit();
00019 void sendInfo(ros::Time time);
00020 void feedImages();
00021 ~StereoCamera();
00022
00023 private:
00024 ros::NodeHandle node, pnode;
00025 image_transport::ImageTransport it;
00026 bool ok;
00027
00028 uvc_cam::Cam *cam_left, *cam_right;
00029 int width, height, fps, skip_frames, frames_to_skip;
00030 std::string left_device, right_device, frame;
00031 bool rotate_left, rotate_right;
00032
00033 CameraInfoManager left_info_mgr, right_info_mgr;
00034
00035 image_transport::Publisher left_pub, right_pub;
00036 ros::Publisher left_info_pub, right_info_pub;
00037
00038 boost::thread image_thread;
00039 };
00040
00041 };
00042
