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Oct 15th, 2011
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  1. #ifndef DEPTHCONVERTER_H
  2. #define DEPTHCONVERTER_H
  3.  
  4. #include <ros/ros.h>
  5. #include <image_transport/image_transport.h>
  6. #include <cv_bridge/cv_bridge.h>
  7. #include <sensor_msgs/image_encodings.h>
  8. #include <opencv2/highgui/highgui.hpp>
  9. #include <iostream>
  10.  
  11. namespace enc = sensor_msgs::image_encodings;
  12.  
  13. class DepthConverter
  14. {
  15.     public:
  16.         DepthConverter();
  17.         ~DepthConverter();
  18.         void imageCallback(const sensor_msgs::ImageConstPtr& msg);
  19.  
  20.     private:
  21.         static const std::string win;
  22.  
  23.         ros::NodeHandle nh;
  24.         image_transport::ImageTransport it;
  25.         image_transport::Subscriber imageSubscriber;
  26. };
  27. #endif //DEPTHCONVERTER
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