34 #ifndef RC_DISPARITYCOLORPUBLISHER_H 35 #define RC_DISPARITYCOLORPUBLISHER_H 41 #include <sensor_msgs/Image.h> Interface for all publishers relating to images, point clouds or other stereo-camera data...
bool used() override
Returns true if there are subscribers to the topic.
void publish(const rcg::Buffer *buffer, uint32_t part, uint64_t pixelformat) override
Offers a buffer for publication.
image_transport::Publisher pub
DisparityColorPublisher & operator=(const DisparityColorPublisher &)
DisparityColorPublisher(image_transport::ImageTransport &it, const std::string &frame_id_prefix, double f, double t, double scale)
Initialization of publisher.
void setDepthRange(double _mindepth, double _maxdepth)
Set the depth range of the disparity images.