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fix(wrapper): fix camera info repeat bug

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This commit is contained in:
kalman 2019-02-26 14:59:28 +08:00
parent 30ed3ed5e2
commit b6d4037357
1 changed files with 3 additions and 5 deletions
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8
wrappers/ros/src/mynt_eye_ros_wrapper/src/wrapper_nodelet.cc
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@ -315,7 +315,7 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
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) {
mono_publishers_[it->first] = it_mynteye.advertiseCamera(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);
} }
@ -828,9 +828,7 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
cv::cvtColor(data.frame, mono, CV_RGB2GRAY); cv::cvtColor(data.frame, mono, CV_RGB2GRAY);
auto &&msg = cv_bridge::CvImage(header, enc::MONO8, mono).toImageMsg(); auto &&msg = cv_bridge::CvImage(header, enc::MONO8, mono).toImageMsg();
pthread_mutex_unlock(&mutex_data_); pthread_mutex_unlock(&mutex_data_);
auto &&info = getCameraInfo(stream); mono_publishers_[stream].publish(msg);
info->header.stamp = msg->header.stamp;
mono_publishers_[stream].publish(msg, info);
} }
void publishPoints( void publishPoints(
@ -1517,7 +1515,7 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
std::map<Stream, std::string> image_encodings_; std::map<Stream, std::string> image_encodings_;
// mono: LEFT, RIGHT // mono: LEFT, RIGHT
std::map<Stream, image_transport::CameraPublisher> mono_publishers_; std::map<Stream, image_transport::Publisher> mono_publishers_;
// pointcloud: POINTS // pointcloud: POINTS
ros::Publisher points_publisher_; ros::Publisher points_publisher_;