disparity_publisher.h

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/*
 * Copyright (c) 2017 Roboception GmbH
 * All rights reserved
 *
 * Author: Heiko Hirschmueller
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 * 1. Redistributions of source code must retain the above copyright notice,
 * this list of conditions and the following disclaimer.
 *
 * 2. Redistributions in binary form must reproduce the above copyright notice,
 * this list of conditions and the following disclaimer in the documentation
 * and/or other materials provided with the distribution.
 *
 * 3. Neither the name of the copyright holder nor the names of its contributors
 * may be used to endorse or promote products derived from this software without
 * specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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 */

#ifndef RC_DISPARITYPUBLISHER_H
#define RC_DISPARITYPUBLISHER_H

#include "genicam2ros_publisher.h"

#include <ros/ros.h>
#include <stereo_msgs/DisparityImage.h>

namespace rc
{
class DisparityPublisher : public GenICam2RosPublisher
{
public:
  DisparityPublisher(ros::NodeHandle& nh, const std::string& frame_id_prefix, double f, double t, double scale);

  void setDepthRange(double _mindepth, double _maxdepth);

  bool used() override;

  void publish(const rcg::Buffer* buffer, uint32_t part, uint64_t pixelformat) override;

private:
  DisparityPublisher(const DisparityPublisher&);             // forbidden
  DisparityPublisher& operator=(const DisparityPublisher&);  // forbidden

  uint32_t seq;
  double f;
  double t;
  float scale;
  double mindepth;
  double maxdepth;

  ros::Publisher pub;
};
}

#endif