tami/MYNT-EYE-S-SDK
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This commit is contained in:
Kalman 2018-07-28 01:17:56 +08:00
parent 5ef5e8d866
commit 27c8ccaac3
1 changed files with 5 additions and 6 deletions
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9
wrappers/ros/src/mynt_eye_ros_wrapper/src/wrapper_nodelet.cc
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@ -174,11 +174,10 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
NODELET_INFO_STREAM("Advertized on topic " << topic);
}
camera_encodings_ = {{Stream::LEFT, enc::MONO8},
{Stream::RIGHT, enc::MONO8}};
camera_encodings_ = {{Stream::LEFT, enc::BGR8}, {Stream::RIGHT, enc::BGR8}};
image_encodings_ = {{Stream::LEFT_RECTIFIED, enc::MONO8},
{Stream::RIGHT_RECTIFIED, enc::MONO8},
image_encodings_ = {{Stream::LEFT_RECTIFIED, enc::BGR8},
{Stream::RIGHT_RECTIFIED, enc::BGR8},
{Stream::DISPARITY, enc::MONO8}, // float
{Stream::DISPARITY_NORMALIZED, enc::MONO8},
{Stream::DEPTH, enc::MONO16}};
@ -326,7 +325,7 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
publishImu(data, imu_count_, stamp);
publishTemp(data.imu->temperature, imu_count_, stamp);
NODELET_DEBUG_STREAM(
"Imu count: " << imu_count_<< ", timestamp: " << data.imu->timestamp
"Imu count: " << imu_count_ << ", timestamp: " << data.imu->timestamp
<< ", accel_x: " << data.imu->accel[0]
<< ", accel_y: " << data.imu->accel[1]
<< ", accel_z: " << data.imu->accel[2]