#ifndef DEPTHCONVERTER_H
#define DEPTHCONVERTER_H

#include <ros/ros.h>
#include <image_transport/image_transport.h>
#include <cv_bridge/cv_bridge.h>
#include <sensor_msgs/image_encodings.h>
#include <opencv2/highgui/highgui.hpp>
#include <iostream>

namespace enc = sensor_msgs::image_encodings;

class DepthConverter
{
    public:
        DepthConverter();
        ~DepthConverter();
        void imageCallback(const sensor_msgs::ImageConstPtr& msg);

    private:
        static const std::string win;

        ros::NodeHandle nh;
        image_transport::ImageTransport it;
        image_transport::Subscriber imageSubscriber;
};
#endif //DEPTHCONVERTER