34 #ifndef RC_DISPARITYCOLORPUBLISHER_H 35 #define RC_DISPARITYCOLORPUBLISHER_H 41 #include <sensor_msgs/Image.h> 49 std::function<
void()>& sub_changed);
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(image_transport::ImageTransport &it, const std::string &frame_id, std::function< void()> &sub_changed)
DisparityColorPublisher & operator=(const DisparityColorPublisher &)
void requiresComponents(int &components, bool &color) override
Adds components and if color images are required to the given values.