tfvisualizer.h

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#ifndef TFVISUALIZER_H
#define TFVISUALIZER_H
#include <QThread>

#ifndef Q_MOC_RUN
#include <ros/ros.h>
#include <ros/init.h>
#include <boost/shared_ptr.hpp>
#include <opencv/cv.h>
#include <sensor_msgs/Image.h>
#include <sensor_msgs/image_encodings.h>
#include <sensor_msgs/CameraInfo.h>
#include <tf/transform_broadcaster.h>
#include <image_transport/image_transport.h>
#include <image_geometry/pinhole_camera_model.h>
#include <tf/transform_listener.h>
#endif


class TF_Visualizer : public QThread
{
    Q_OBJECT
public:
    explicit TF_Visualizer(const std::vector<std::string>& frame_ids, std::string camera_input_topic, std::string camera_output_topic);
    void imageCb(const sensor_msgs::ImageConstPtr& image_msg, const sensor_msgs::CameraInfoConstPtr& info_msg);

    void stop();
protected:

    ros::NodeHandle nh_;
    image_transport::ImageTransport it_;
    image_transport::CameraSubscriber sub_;
    image_transport::Publisher pub_;
    tf::TransformListener tf_listener_;
    image_geometry::PinholeCameraModel cam_model_;
    std::vector<std::string> frame_ids_;
    std::string camera_input_topic_;
    std::string camera_output_topic_;
    CvFont font_;

    void run();
};


#endif // TFVISUALIZER_H