tami/MYNT-EYE-S-SDK
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Merge branch 'develop' into devel-s210a-merge

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This commit is contained in:
John Zhao
2018-12-17 18:00:37 +08:00
parent f59c918e81 f6abc57475
commit 1c17308a02
58 changed files with 7524 additions and 14 deletions
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32
wrappers/ros/src/mynt_eye_ros_wrapper/launch/mynteye.launch
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@@ -170,5 +170,37 @@
<param name="gyro_low_filter" value="$(arg gyro_low_filter)" />
</node>
<!-- disable compressed depth plugin for image topics -->
<group ns="$(arg left_topic)">
<rosparam param="disable_pub_plugins">
- 'image_transport/compressedDepth'
</rosparam>
</group>
<group ns="$(arg left_rect_topic)">
<rosparam param="disable_pub_plugins">
- 'image_transport/compressedDepth'
</rosparam>
</group>
<group ns="$(arg right_rect_topic)">
<rosparam param="disable_pub_plugins">
- 'image_transport/compressedDepth'
</rosparam>
</group>
<group ns="$(arg right_topic)">
<rosparam param="disable_pub_plugins">
- 'image_transport/compressedDepth'
</rosparam>
</group>
<group ns="$(arg disparity_topic)">
<rosparam param="disable_pub_plugins">
- 'image_transport/compressedDepth'
</rosparam>
</group>
<group ns="$(arg disparity_norm_topic)">
<rosparam param="disable_pub_plugins">
- 'image_transport/compressedDepth'
</rosparam>
</group>
</group> <!-- mynteye -->
</launch>

7
wrappers/ros/src/mynt_eye_ros_wrapper/src/wrapper_nodelet.cc
View File

@@ -348,9 +348,10 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
api_->EnableStreamData(Stream::POINTS);
api_->SetStreamCallback(
Stream::POINTS, [this](const api::StreamData &data) {
ros::Time stamp = hardTimeToSoftTime(data.img->timestamp);
static std::size_t count = 0;
++count;
publishPoints(data, count, ros::Time::now());
publishPoints(data, count, stamp);
});
is_published_[Stream::POINTS] = true;
}
@@ -367,10 +368,10 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
api_->EnableStreamData(stream);
api_->SetStreamCallback(
stream, [this, stream](const api::StreamData &data) {
// data.img is null, not hard timestamp
ros::Time stamp = hardTimeToSoftTime(data.img->timestamp);
static std::size_t count = 0;
++count;
publishCamera(stream, data, count, ros::Time::now());
publishCamera(stream, data, count, stamp);
});
is_published_[stream] = true;
}