robokudo.vis.ros_visualizer
===========================

.. py:module:: robokudo.vis.ros_visualizer

.. autoapi-nested-parse::

   ROS-based visualization for RoboKudo pipelines.

   This module provides ROS-based visualization capabilities for RoboKudo pipelines.
   It handles:

   * Image publishing to ROS topics
   * Single and multi-view visualization
   * Pipeline state visualization
   * Dynamic topic management
   * Image format conversion



Classes
-------

.. autoapisummary::

   robokudo.vis.ros_visualizer.SharedROSVisualizer
   robokudo.vis.ros_visualizer.AllAnnotatorROSVisualizer


Module Contents
---------------

.. py:class:: SharedROSVisualizer(*args: typing_extensions.Any, **kwargs: typing_extensions.Any)

   Bases: :py:obj:`robokudo.vis.visualizer.Visualizer`, :py:obj:`robokudo.vis.visualizer.Visualizer.Observer`, :py:obj:`rclpy.node.Node`


   A single-view ROS Image Publisher. It publishes the active annotator from the SharedState.


   .. py:attribute:: ros_image_publisher
      :type:  rclpy.publisher.Publisher

      Publisher for the image topic



   .. py:attribute:: ros_image_cv_bridge
      :type:  cv_bridge.CvBridge

      Bridge for converting between ROS and OpenCV image formats



   .. py:method:: tick() -> None

      Update the visualization display.

      This method:

      * Gets current annotator outputs
      * Updates display if needed
      * Renders annotator name overlay
      * Publishes image to ROS topic



   .. py:method:: notify(observable: robokudo.vis.visualizer.Visualizer.Observable, *args: typing_extensions.Any, **kwargs: typing_extensions.Any) -> None

      Handle notification of state changes.

      :param observable: The object that sent the notification



.. py:class:: AllAnnotatorROSVisualizer(*args: typing_extensions.Any, **kwargs: typing_extensions.Any)

   Bases: :py:obj:`robokudo.vis.visualizer.Visualizer`, :py:obj:`rclpy.node.Node`


   A ROS Image Publisher that publishes the output of all images in the given Pipeline.

   This class provides visualization of all annotator outputs in a pipeline
   through separate ROS image topics. It supports:

   * Multiple image topic publishing
   * Dynamic topic creation
   * Image format conversion
   * Per-annotator output streams

   .. note::
       This Visualizer works with a shared state and needs notifications


   .. py:attribute:: ros_image_publishers
      :type:  typing_extensions.Dict[str, rclpy.publisher.Publisher]

      Mapping of annotator names to ROS publishers



   .. py:attribute:: ros_image_cv_bridge
      :type:  cv_bridge.CvBridge

      Bridge for converting between ROS and OpenCV image formats



   .. py:method:: update_ros_image_publishers() -> None

      Update ROS publishers for all annotators.

      This method:

      * Gets current list of annotators
      * Creates publishers for new annotators
      * Maintains existing publishers

      TODO: Consider removing publishers for non-existing annotators. May not be
       worth the cost if re-instantiation is frequent due to changing annotator lists.



   .. py:method:: tick() -> None

      Update all visualization displays.

      This method:

      * Gets current annotator outputs
      * Updates publishers if needed
      * Publishes all annotator images to ROS topics



   .. py:method:: notify(observable: robokudo.vis.visualizer.Visualizer.Observable, *args: typing_extensions.Any, **kwargs: typing_extensions.Any) -> None

      Handle notification of state changes.

      :param observable: The object that sent the notification