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Do samll change in wrapper_nodelet.cc

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This commit is contained in:
kalman 2018-12-07 16:00:29 +08:00
parent 4ebdcf9bee
commit 97701188b8
1 changed files with 0 additions and 19 deletions
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19
wrappers/ros/src/mynt_eye_ros_wrapper/src/wrapper_nodelet.cc
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@ -409,25 +409,6 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
} else { } else {
publishPoint(stream); publishPoint(stream);
} }
api_->SetStreamCallback(
stream, [this, stream](const api::StreamData &data) {
// data.img is null, not hard timestamp
static std::size_t count = 0;
++count;
publishCamera(stream, data, count, ros::Time::now());
});
is_published_[stream] = true;
}
if (points_publisher_.getNumSubscribers() > 0 &&
!is_published_[Stream::POINTS]) {
api_->SetStreamCallback(
Stream::POINTS, [this](const api::StreamData &data) {
static std::size_t count = 0;
++count;
publishPoints(data, count, ros::Time::now());
});
is_published_[Stream::POINTS] = true;
} }
if (!is_motion_published_) { if (!is_motion_published_) {