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fix(ros): add mutex_data_ in mono

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kalman 2019-01-16 15:20:13 +08:00
parent b4ddf5a816
commit c64fec21d7
1 changed files with 2 additions and 0 deletions
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2
wrappers/ros/src/mynt_eye_ros_wrapper/src/wrapper_nodelet.cc
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@ -668,9 +668,11 @@ 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_);
cv::Mat mono; cv::Mat mono;
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_);
auto &&info = getCameraInfo(stream); auto &&info = getCameraInfo(stream);
info->header.stamp = msg->header.stamp; info->header.stamp = msg->header.stamp;
mono_publishers_[stream].publish(msg, info); mono_publishers_[stream].publish(msg, info);