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- #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
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