vrmstnode.h

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#include <image_transport/image_transport.h>
#include <image_transport/camera_publisher.h>
#include <sensor_msgs/fill_image.h>
#include <sensor_msgs/Image.h>
#include <sensor_msgs/CameraInfo.h>
#include <sensor_msgs/SetCameraInfo.h>

#include <dynamic_reconfigure/server.h>
#include <vrmagic_multi_driver/CamParamsConfig.h>

#include <boost/thread.hpp>

#include <vrmagic_devkit_wrapper/vrmusbcam2.h>

class PropertyCache;

class VRMagicStereoNode
{
private:
        bool calibrated;
        unsigned int framesDelivered;
        unsigned int width, height;
        ros::NodeHandle leftNs, rightNs, thisNode;
        image_transport::CameraPublisher camPubLeft, camPubRight;
        sensor_msgs::CameraInfo leftCalib, rightCalib;
        ros::ServiceServer leftCalibUpdate, rightCalibUpdate;
        // it would be better to use CameraInfoManager, if saving to cameraeprom is not required
  dynamic_reconfigure::Server<vrmagic_multi_driver::CamParamsConfig> dConfServer;
        ros::Rate fpsLimit;
        VRmUsbCamDevice device;
        PropertyCache *props;
        boost::mutex camAccess, calibAccess, timerAccess;
        sensor_msgs::Image imgLeft;
        sensor_msgs::Image imgRight;
        const std::string frame_id;
        
  void propertyUpdate(vrmagic_multi_driver::CamParamsConfig &config, uint32_t level);

        bool runUpdateLeft(sensor_msgs::SetCameraInfo::Request &req,
            sensor_msgs::SetCameraInfo::Response &res);

        bool runUpdateRight(sensor_msgs::SetCameraInfo::Request &req,
            sensor_msgs::SetCameraInfo::Response &res);

        void storeCalibration();
        void loadCalibration();
        void AnnounceTopics();
        void AbandonTopics();
        void broadcastFrame();
        void grabFrame(VRmDWORD port, sensor_msgs::Image &img, const ros::Time &triggerTime);
        void initCam(VRmDWORD camDesired);
        void initProperties();

public:
        VRMagicStereoNode(VRmDWORD camDesired);
        ~VRMagicStereoNode();
        void spin();
        void retireCam();

};