00001 // Copyright [2015] Takashi Ogura<t.ogura@gmail.com> 00002 00003 #ifndef CV_CAMERA_DRIVER_H 00004 #define CV_CAMERA_DRIVER_H 00005 00006 #include "cv_camera/capture.h" 00007 00008 namespace cv_camera 00009 { 00010 00016 class Driver 00017 { 00018 public: 00028 Driver(ros::NodeHandle& private_node, 00029 ros::NodeHandle& camera_node); 00030 ~Driver(); 00031 00037 void setup(); 00041 void proceed(); 00042 private: 00046 ros::NodeHandle private_node_; 00050 ros::NodeHandle camera_node_; 00054 boost::shared_ptr<Capture> camera_; 00055 00059 boost::shared_ptr<ros::Rate> rate_; 00060 }; 00061 00062 } // namespace cv_camera 00063 00064 #endif // CV_CAMERA_DRIVER_H