rviz_scene_publisher.h

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// -*- mode: c++ -*-
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#ifndef JSK_RVIZ_PLUGIN_RVIZ_SCENE_PUBLISHER_H_
#define JSK_RVIZ_PLUGIN_RVIZ_SCENE_PUBLISHER_H_
 
#include <rviz/display.h>
#include <rviz/properties/string_property.h>
#include <rviz/properties/bool_property.h>
#include <rviz/properties/float_property.h>
#include <opencv2/opencv.hpp>
#include <image_transport/image_transport.h>
#include <cv_bridge/cv_bridge.h>
#include <sensor_msgs/Image.h>
 
#include <ros/ros.h>
 
namespace jsk_rviz_plugins
{
  class RvizScenePublisher: public rviz::Display
  {
    Q_OBJECT
  public:
#if ROS_VERSION_MINIMUM(1,12,0)
    typedef std::shared_ptr<RvizScenePublisher> Ptr;
#else
    typedef boost::shared_ptr<RvizScenePublisher> Ptr;
#endif
    RvizScenePublisher();
    virtual ~RvizScenePublisher();
  protected:
    virtual void onInitialize();
    virtual void onEnable();
    virtual void update(float wall_dt, float ros_dt);
    rviz::StringProperty* topic_name_property_;
    std::string topic_name_;
    int image_id_;
    ros::NodeHandle nh_;
    image_transport::ImageTransport it_;
    image_transport::Publisher publisher_;
  protected Q_SLOTS:
    void updateTopicName();
  };
}
 
#endif