client_ros.h

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#ifndef RGBD_CLIENT_ROS_H_
#define RGBD_CLIENT_ROS_H_
 
#include <ros/node_handle.h>
#include <ros/callback_queue.h>
#include "ros/callback_queue_interface.h"
 
#include <message_filters/synchronizer.h>
#include <message_filters/subscriber.h>
#include <message_filters/sync_policies/approximate_time.h>
#include <image_geometry/pinhole_camera_model.h>
 
#include <sensor_msgs/Image.h>
#include <sensor_msgs/CameraInfo.h>
 
#include "rgbd/client_ros_base.h"
#include "rgbd/types.h"
 
#include <memory>
 
 
namespace rgbd {
 
class ClientROS : public ClientROSBase {
 
public:
 
    ClientROS();
 
    virtual ~ClientROS();
 
    bool initialize(const std::string& rgb_image_topic, const std::string& depth_image_topic, const std::string& cam_info_topic);
 
    bool nextImage(Image& image);
 
    ImagePtr nextImage();
 
protected:
 
    ros::CallbackQueue cb_queue_;
 
};
 
}
 
#endif // RGBD_CLIENT_ROS_H_