#ifndef ROBOT_SENSOR_MSGS_MESSAGE_DEPTHCAMERADATA_H
#define ROBOT_SENSOR_MSGS_MESSAGE_DEPTHCAMERADATA_H

#include <boost/array.hpp>
#include <boost/shared_ptr.hpp>
#include <robot_sensor_msgs/CameraInfo.h>
#include <robot_sensor_msgs/Image.h>
#include <robot_std_msgs/Header.h>

namespace robot_sensor_msgs
{

struct DepthCameraData
{
  // Canonical timestamp and optical frame for this coherent depth sample.
  robot_std_msgs::Header header;
  robot_sensor_msgs::Image depth;
  robot_sensor_msgs::CameraInfo camera_info;

  typedef boost::shared_ptr<robot_sensor_msgs::DepthCameraData> Ptr;
  typedef boost::shared_ptr<const robot_sensor_msgs::DepthCameraData> ConstPtr;
};

}  // namespace robot_sensor_msgs

#endif  // ROBOT_SENSOR_MSGS_MESSAGE_DEPTHCAMERADATA_H
