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style(ros):rename mutex_data

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This commit is contained in:
kalman 2018-12-29 16:47:18 +08:00
parent e34e6e1466
commit a3206e5be5
1 changed files with 4 additions and 4 deletions
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8
wrappers/ros/src/mynt_eye_ros_wrapper/src/wrapper_nodelet.cc
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@ -51,7 +51,6 @@ inline double compute_time(const double end, const double start) {
class ROSWrapperNodelet : public nodelet::Nodelet { class ROSWrapperNodelet : public nodelet::Nodelet {
public: public:
ROSWrapperNodelet() { ROSWrapperNodelet() {
pthread_mutex_init(&mutex_data, nullptr);
} }
~ROSWrapperNodelet() { ~ROSWrapperNodelet() {
@ -156,6 +155,7 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
initDevice(); initDevice();
NODELET_FATAL_COND(api_ == nullptr, "No MYNT EYE device selected :("); NODELET_FATAL_COND(api_ == nullptr, "No MYNT EYE device selected :(");
pthread_mutex_init(&mutex_data_, nullptr);
nh_ = getMTNodeHandle(); nh_ = getMTNodeHandle();
private_nh_ = getMTPrivateNodeHandle(); private_nh_ = getMTPrivateNodeHandle();
@ -528,14 +528,14 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
header.seq = seq; header.seq = seq;
header.stamp = stamp; header.stamp = stamp;
header.frame_id = frame_ids_[stream]; header.frame_id = frame_ids_[stream];
pthread_mutex_lock(&mutex_data); pthread_mutex_lock(&mutex_data_);
cv::Mat img = data.frame; cv::Mat img = data.frame;
if (stream == Stream::DISPARITY) { // 32FC1 > 8UC1 = MONO8 if (stream == Stream::DISPARITY) { // 32FC1 > 8UC1 = MONO8
img.convertTo(img, CV_8UC1); img.convertTo(img, CV_8UC1);
} }
auto &&msg = auto &&msg =
cv_bridge::CvImage(header, camera_encodings_[stream], img).toImageMsg(); cv_bridge::CvImage(header, camera_encodings_[stream], img).toImageMsg();
pthread_mutex_unlock(&mutex_data); pthread_mutex_unlock(&mutex_data_);
auto &&info = getCameraInfo(stream); auto &&info = getCameraInfo(stream);
info->header.stamp = msg->header.stamp; info->header.stamp = msg->header.stamp;
camera_publishers_[stream].publish(msg, info); camera_publishers_[stream].publish(msg, info);
@ -970,7 +970,7 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
ros::NodeHandle nh_; ros::NodeHandle nh_;
ros::NodeHandle private_nh_; ros::NodeHandle private_nh_;
pthread_mutex_t mutex_data; pthread_mutex_t mutex_data_;
// camera: // camera:
// LEFT, RIGHT, LEFT_RECTIFIED, RIGHT_RECTIFIED, // LEFT, RIGHT, LEFT_RECTIFIED, RIGHT_RECTIFIED,