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Rename gray topic

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This commit is contained in:
Kalman 2018-10-29 15:42:04 +08:00
parent 14988ffd24
commit 9a465b9f04
3 changed files with 29 additions and 29 deletions
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8
wrappers/ros/src/mynt_eye_ros_wrapper/launch/mynteye.launch
View File

@ -13,8 +13,8 @@
<arg name="depth_topic" default="depth/image_raw" /> <arg name="depth_topic" default="depth/image_raw" />
<arg name="points_topic" default="points/data_raw" /> <arg name="points_topic" default="points/data_raw" />
<arg name="left_gray_topic" default="left/image_gray" /> <arg name="left_mono_topic" default="left/image_mono" />
<arg name="right_gray_topic" default="right/image_gray" /> <arg name="right_mono_topic" default="right/image_mono" />
<arg name="imu_topic" default="imu/data_raw" /> <arg name="imu_topic" default="imu/data_raw" />
<arg name="temp_topic" default="temp/data_raw" /> <arg name="temp_topic" default="temp/data_raw" />
@ -105,8 +105,8 @@
<param name="points_topic" value="$(arg points_topic)" /> <param name="points_topic" value="$(arg points_topic)" />
<param name="depth_topic" value="$(arg depth_topic)" /> <param name="depth_topic" value="$(arg depth_topic)" />
<param name="left_gray_topic" value="$(arg left_gray_topic)" /> <param name="left_mono_topic" value="$(arg left_mono_topic)" />
<param name="right_gray_topic" value="$(arg right_gray_topic)" /> <param name="right_mono_topic" value="$(arg right_mono_topic)" />
<param name="imu_topic" value="$(arg imu_topic)" /> <param name="imu_topic" value="$(arg imu_topic)" />
<param name="temp_topic" value="$(arg temp_topic)" /> <param name="temp_topic" value="$(arg temp_topic)" />

12
wrappers/ros/src/mynt_eye_ros_wrapper/rviz/mynteye.rviz
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@ -82,11 +82,11 @@ Visualization Manager:
Displays: Displays:
- Class: rviz/Image - Class: rviz/Image
Enabled: true Enabled: true
Image Topic: /mynteye/left/image_gray Image Topic: /mynteye/left/image_mono
Max Value: 1 Max Value: 1
Median window: 5 Median window: 5
Min Value: 0 Min Value: 0
Name: LeftGray Name: LeftMono
Normalize Range: true Normalize Range: true
Queue Size: 2 Queue Size: 2
Transport Hint: raw Transport Hint: raw
@ -94,18 +94,18 @@ Visualization Manager:
Value: true Value: true
- Class: rviz/Image - Class: rviz/Image
Enabled: true Enabled: true
Image Topic: /mynteye/right/image_gray Image Topic: /mynteye/right/image_mono
Max Value: 1 Max Value: 1
Median window: 5 Median window: 5
Min Value: 0 Min Value: 0
Name: RightGray Name: RightMono
Normalize Range: true Normalize Range: true
Queue Size: 2 Queue Size: 2
Transport Hint: raw Transport Hint: raw
Unreliable: false Unreliable: false
Value: true Value: true
Enabled: false Enabled: true
Name: Gray Name: Mono
- Class: rviz/Group - Class: rviz/Group
Displays: Displays:
- Class: rviz/Image - Class: rviz/Image

38
wrappers/ros/src/mynt_eye_ros_wrapper/src/wrapper_nodelet.cc
View File

@ -115,13 +115,13 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
private_nh_.getParam(it->second + "_topic", stream_topics[it->first]); private_nh_.getParam(it->second + "_topic", stream_topics[it->first]);
} }
std::map<Stream, std::string> gray_names{{Stream::LEFT, "left_gray"}, std::map<Stream, std::string> mono_names{{Stream::LEFT, "left_mono"},
{Stream::RIGHT, "right_gray"}}; {Stream::RIGHT, "right_mono"}};
std::map<Stream, std::string> gray_topics{}; std::map<Stream, std::string> mono_topics{};
for (auto &&it = gray_names.begin(); it != gray_names.end(); ++it) { for (auto &&it = mono_names.begin(); it != mono_names.end(); ++it) {
gray_topics[it->first] = it->second; mono_topics[it->first] = it->second;
private_nh_.getParam(it->second + "_topic", gray_topics[it->first]); private_nh_.getParam(it->second + "_topic", mono_topics[it->first]);
} }
std::string imu_topic = "imu"; std::string imu_topic = "imu";
@ -188,10 +188,10 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
NODELET_INFO_STREAM("Advertized on topic " << topic); NODELET_INFO_STREAM("Advertized on topic " << topic);
} }
for (auto &&it = gray_topics.begin(); it != gray_topics.end(); ++it) { for (auto &&it = mono_topics.begin(); it != mono_topics.end(); ++it) {
auto &&topic = gray_topics[it->first]; auto &&topic = mono_topics[it->first];
if (it->first == Stream::LEFT || it->first == Stream::RIGHT) { // camera if (it->first == Stream::LEFT || it->first == Stream::RIGHT) { // camera
gray_publishers_[it->first] = it_mynteye.advertiseCamera(topic, 1); mono_publishers_[it->first] = it_mynteye.advertiseCamera(topic, 1);
} }
NODELET_INFO_STREAM("Advertized on topic " << topic); NODELET_INFO_STREAM("Advertized on topic " << topic);
} }
@ -291,7 +291,7 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
++left_count_; ++left_count_;
publishCamera(Stream::LEFT, data, left_count_, stamp); publishCamera(Stream::LEFT, data, left_count_, stamp);
publishGray(Stream::LEFT, data, left_count_, stamp); publishMono(Stream::LEFT, data, left_count_, stamp);
NODELET_DEBUG_STREAM( NODELET_DEBUG_STREAM(
Stream::LEFT << ", count: " << left_count_ Stream::LEFT << ", count: " << left_count_
<< ", frame_id: " << data.img->frame_id << ", frame_id: " << data.img->frame_id
@ -305,7 +305,7 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
++right_count_; ++right_count_;
publishCamera(Stream::RIGHT, data, right_count_, stamp); publishCamera(Stream::RIGHT, data, right_count_, stamp);
publishGray(Stream::RIGHT, data, right_count_, stamp); publishMono(Stream::RIGHT, data, right_count_, stamp);
NODELET_DEBUG_STREAM( NODELET_DEBUG_STREAM(
Stream::RIGHT << ", count: " << right_count_ Stream::RIGHT << ", count: " << right_count_
<< ", frame_id: " << data.img->frame_id << ", frame_id: " << data.img->frame_id
@ -419,21 +419,21 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
image_publishers_[stream].publish(msg); image_publishers_[stream].publish(msg);
} }
void publishGray( void publishMono(
const Stream &stream, const api::StreamData &data, std::uint32_t seq, const Stream &stream, const api::StreamData &data, std::uint32_t seq,
ros::Time stamp) { ros::Time stamp) {
if (gray_publishers_[stream].getNumSubscribers() == 0) if (mono_publishers_[stream].getNumSubscribers() == 0)
return; return;
std_msgs::Header header; std_msgs::Header header;
header.seq = seq; header.seq = seq;
header.stamp = stamp; header.stamp = stamp;
header.frame_id = frame_ids_[stream]; header.frame_id = frame_ids_[stream];
cv::Mat gray; cv::Mat mono;
cv::cvtColor(data.frame, gray, CV_RGB2GRAY); cv::cvtColor(data.frame, mono, CV_RGB2GRAY);
auto &&msg = cv_bridge::CvImage(header, enc::MONO8, gray).toImageMsg(); auto &&msg = cv_bridge::CvImage(header, enc::MONO8, mono).toImageMsg();
auto &&info = getCameraInfo(stream); auto &&info = getCameraInfo(stream);
info->header.stamp = msg->header.stamp; info->header.stamp = msg->header.stamp;
gray_publishers_[stream].publish(msg, info); mono_publishers_[stream].publish(msg, info);
} }
void publishPoints( void publishPoints(
@ -878,8 +878,8 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
std::map<Stream, image_transport::Publisher> image_publishers_; std::map<Stream, image_transport::Publisher> image_publishers_;
std::map<Stream, std::string> image_encodings_; std::map<Stream, std::string> image_encodings_;
// gray: LEFT, RIGHT // mono: LEFT, RIGHT
std::map<Stream, image_transport::CameraPublisher> gray_publishers_; std::map<Stream, image_transport::CameraPublisher> mono_publishers_;
// pointcloud: POINTS // pointcloud: POINTS
ros::Publisher points_publisher_; ros::Publisher points_publisher_;