server.h

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#ifndef RGBD_SERVER_H_
#define RGBD_SERVER_H_
 
#include "rgbd/image.h"
#include "rgbd/server_rgbd.h"
#include "rgbd/server_shm.h"
 
#include <ros/node_handle.h>
#include <ros/publisher.h>
 
#include <memory>
#include <thread>
 
namespace rgbd {
 
class Image;
 
class Server {
 
public:
 
    Server(ros::NodeHandle nh=ros::NodeHandle());
 
    virtual ~Server();
 
    void initialize(const std::string& name, RGBStorageType rgb_type = RGB_STORAGE_LOSSLESS, DepthStorageType depth_type = DEPTH_STORAGE_LOSSLESS, const float service_freq = 10);
 
    void send(const Image& image, bool threaded=false);
 
protected:
 
    ServerRGBD server_rgbd_;
 
    ServerSHM server_shm_;
 
    ros::NodeHandle nh_;
 
    std::string name_;
    std::string hostname_;
 
    // Publisher thread
    std::unique_ptr<std::thread> pub_hostname_thread_ptr_;
 
};
 
}
 
#endif // RGBD_SERVER_H_