#include "DepthConverter.h"

DepthConverter::DepthConverter(): it(nh)
{
    imageSubscriber = it.subscribe("/camera/depth/image", 1, &DepthConverter::imageCallback, this);
    win = "Depth map";
    cv:namedWindow(win);
}

DepthConverter::~DepthConverter()
{
    cv::destroyWindow(win);
}

void DepthConverter::imageCallback(const sensor_msgs::ImageConstPtr& msg)
{
    cv_bridge::CvImagePtr cvPtr;

    try
    {
        cvPtr = cv_bridge::toCvCopy(msg);
    }
    catch(cv_bridge::Exception& e)
    {
        ROS_ERROR("Bridge exception: %s", e.what());
        return;
    }

    cv::imshow(win, cvPtr->image);
    cv::waitKey(3);
}