stereocamera.h
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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     camera_info_manager::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 
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uvc_camera
Author(s): Ken Tossell/ktossell@umd.edu
autogenerated on Sat Jul 27 2013 22:46:52