client_rgbd.h

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#ifndef RGBD_CLIENT_RGBD_H_
#define RGBD_CLIENT_RGBD_H_
 
#include <ros/node_handle.h>
#include <ros/subscriber.h>
#include <ros/callback_queue.h>
 
#include "rgbd/types.h"
 
#include "rgbd_msgs/RGBD.h"
 
 
namespace rgbd {
 
class ClientRGBD {
 
public:
 
    ClientRGBD();
 
    virtual ~ClientRGBD();
 
    bool initialize(const std::string& server_name);
 
    bool deinitialize();
 
    bool initialized() { return !sub_image_.getTopic().empty(); }
 
    bool nextImage(Image& image);
 
    ImagePtr nextImage();
 
protected:
 
    ros::Subscriber sub_image_;
    ros::CallbackQueue cb_queue_;
 
    bool new_image_;
    Image* image_ptr_;
 
    void rgbdImageCallback(const rgbd_msgs::RGBD::ConstPtr& msg);
 
};
 
}
 
#endif // RGBD_CLIENT_RGBD_H_