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Merge branch 'hotfix/2.2.4' into develop

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# Conflicts:
#	CMakeLists.txt
#	wrappers/ros/src/mynt_eye_ros_wrapper/src/wrapper_nodelet.cc
This commit is contained in:
John Zhao
2018-12-31 10:25:22 +08:00
parent 50dc95aa71 2a2ea0b370
commit 96bc0353ff
5 changed files with 20 additions and 12 deletions
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14
wrappers/ros/src/mynt_eye_ros_wrapper/src/wrapper_nodelet.cc
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@@ -50,7 +50,9 @@ inline double compute_time(const double end, const double start) {
class ROSWrapperNodelet : public nodelet::Nodelet {
public:
ROSWrapperNodelet() {}
ROSWrapperNodelet() {
pthread_mutex_init(&mutex_data, nullptr);
}
~ROSWrapperNodelet() {
// std::cout << __func__ << std::endl;
@@ -474,7 +476,7 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
mono_publishers_[Stream::LEFT].getNumSubscribers() > 0) &&
!is_published_[Stream::LEFT]) {
api_->SetStreamCallback(
Stream::LEFT, [this](const api::StreamData &data) {
Stream::LEFT, [&](const api::StreamData &data) {
++left_count_;
if (left_count_ > 10) {
// ros::Time stamp = hardTimeToSoftTime(data.img->timestamp);
@@ -491,7 +493,9 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
// : (data.img->timestamp - img_time_prev) * 0.01f) << "
// ms");
// img_time_prev = data.img->timestamp;
pthread_mutex_lock(&mutex_data);
publishCamera(Stream::LEFT, data, left_count_, stamp);
pthread_mutex_unlock(&mutex_data);
publishMono(Stream::LEFT, data, left_count_, stamp);
NODELET_DEBUG_STREAM(
Stream::LEFT << ", count: " << left_count_
@@ -509,13 +513,15 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
mono_publishers_[Stream::RIGHT].getNumSubscribers() > 0) &&
!is_published_[Stream::RIGHT]) {
api_->SetStreamCallback(
Stream::RIGHT, [this](const api::StreamData &data) {
Stream::RIGHT, [&](const api::StreamData &data) {
++right_count_;
if (right_count_ > 10) {
// ros::Time stamp = hardTimeToSoftTime(data.img->timestamp);
ros::Time stamp = checkUpTimeStamp(
data.img->timestamp, Stream::RIGHT);
pthread_mutex_lock(&mutex_data);
publishCamera(Stream::RIGHT, data, right_count_, stamp);
pthread_mutex_unlock(&mutex_data);
publishMono(Stream::RIGHT, data, right_count_, stamp);
NODELET_DEBUG_STREAM(
Stream::RIGHT
@@ -1159,6 +1165,8 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
ros::NodeHandle nh_;
ros::NodeHandle private_nh_;
pthread_mutex_t mutex_data;
Model model_;
std::map<Option, std::string> option_names_;
// camera: