disparity_view.cpp

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#include <ros/ros.h>
#include <nodelet/loader.h>
 
int main(int argc, char **argv)
{
  ros::init(argc, argv, "disparity_view", ros::init_options::AnonymousName);
  if (ros::names::remap("image") == "image") {
    ROS_WARN("Topic 'image' has not been remapped! Typical command-line usage:\n"
             "\t$ rosrun image_view disparity_view image:=<disparity image topic>");
  }
 
  nodelet::Loader manager(false);
  nodelet::M_string remappings;
  nodelet::V_string my_argv(argv + 1, argv + argc);
  my_argv.push_back("--shutdown-on-close"); // Internal
 
  manager.load(ros::this_node::getName(), "image_view/disparity", remappings, my_argv);
 
  ros::spin();
  return 0;
}