00001 #ifndef CV_CAMERA_DRIVER_H 00002 #define CV_CAMERA_DRIVER_H 00003 00004 #include "cv_camera/capture.h" 00005 00006 namespace cv_camera { 00007 00013 class Driver { 00014 public: 00024 Driver(ros::NodeHandle& private_node, 00025 ros::NodeHandle& camera_node); 00026 ~Driver(); 00027 00033 void setup(); 00037 void proceed(); 00038 private: 00042 ros::NodeHandle private_node_; 00046 ros::NodeHandle camera_node_; 00050 boost::shared_ptr<Capture> camera_; 00051 00055 boost::shared_ptr<ros::Rate> rate_; 00056 }; 00057 00058 } 00059 00060 #endif // CV_CAMERA_DRIVER_H