tami/MYNT-EYE-S-SDK
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feat(slam): add rect gray topic

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This commit is contained in:
TinyOh 2019-04-15 13:13:27 +08:00
parent 1a080d438f
commit 966511edf1
1 changed files with 11 additions and 2 deletions
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13
wrappers/ros/src/mynt_eye_ros_wrapper/src/wrapper_nodelet.cc
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@ -202,7 +202,9 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
is_started_ = false; is_started_ = false;
std::map<Stream, std::string> mono_names{{Stream::LEFT, "left_mono"}, std::map<Stream, std::string> mono_names{{Stream::LEFT, "left_mono"},
{Stream::RIGHT, "right_mono"}}; {Stream::RIGHT, "right_mono"},
{Stream::LEFT_RECTIFIED, "left_rect_mono"},
{Stream::RIGHT_RECTIFIED, "right_rect_mono"}};
std::map<Stream, std::string> mono_topics{}; std::map<Stream, std::string> mono_topics{};
for (auto &&it = mono_names.begin(); it != mono_names.end(); ++it) { for (auto &&it = mono_names.begin(); it != mono_names.end(); ++it) {
@ -317,7 +319,10 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
if (model_ == Model::STANDARD2 || model_ == Model::STANDARD210A) { if (model_ == Model::STANDARD2 || model_ == Model::STANDARD210A) {
for (auto &&it = mono_topics.begin(); it != mono_topics.end(); ++it) { for (auto &&it = mono_topics.begin(); it != mono_topics.end(); ++it) {
auto &&topic = mono_topics[it->first]; auto &&topic = mono_topics[it->first];
if (it->first == Stream::LEFT || it->first == Stream::RIGHT) { if (it->first == Stream::LEFT ||
it->first == Stream::RIGHT ||
it->first == Stream::RIGHT_RECTIFIED ||
it->first == Stream::LEFT_RECTIFIED) {
mono_publishers_[it->first] = it_mynteye.advertise(topic, 1); mono_publishers_[it->first] = it_mynteye.advertise(topic, 1);
} }
NODELET_INFO_STREAM("Advertized on topic " << topic); NODELET_INFO_STREAM("Advertized on topic " << topic);
@ -592,6 +597,10 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
return; return;
} else if (stream == Stream::POINTS) { } else if (stream == Stream::POINTS) {
publishPoints(data, seq, stamp); publishPoints(data, seq, stamp);
} else if (stream == Stream::LEFT_RECTIFIED ||
stream == Stream::RIGHT_RECTIFIED) {
publishMono(stream, data, seq, stamp);
publishCamera(stream, data, seq, stamp);
} else { } else {
publishCamera(stream, data, seq, stamp); publishCamera(stream, data, seq, stamp);
} }