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Merge branch 'develop' of http://gitlab.mynt.com/mynteye/mynt-eye-sdk-2 into develop

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TinyOh
2019-01-16 10:42:43 +08:00
parent c42534d719 07eb0b36c1
commit effa0ba2ad
4 changed files with 22 additions and 67 deletions
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24
wrappers/ros/src/mynt_eye_ros_wrapper/src/wrapper_nodelet.cc
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@@ -72,14 +72,20 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
<< (right_count_ / compute_time(time_end, right_time_beg_));
}
if (imu_time_beg_ != -1) {
if (publish_imu_by_sync_) {
LOG(INFO) << "imu_sync_count: " << imu_sync_count_ << ", hz: "
<< (imu_sync_count_ /
compute_time(time_end, imu_time_beg_));
} else {
LOG(INFO) << "Imu count: " << imu_count_ << ", hz: "
<< (imu_count_ /
compute_time(time_end, imu_time_beg_));
if (model_ == Model::STANDARD) {
LOG(INFO) << "Imu count: " << imu_count_ << ", hz: "
<< (imu_count_ /
compute_time(time_end, imu_time_beg_));
} else {
if (publish_imu_by_sync_) {
LOG(INFO) << "imu_sync_count: " << imu_sync_count_ << ", hz: "
<< (imu_sync_count_ /
compute_time(time_end, imu_time_beg_));
} else {
LOG(INFO) << "Imu count: " << imu_count_ << ", hz: "
<< (imu_count_ /
compute_time(time_end, imu_time_beg_));
}
}
}
@@ -1327,7 +1333,7 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
std::size_t imu_sync_count_ = 0;
std::shared_ptr<ImuData> imu_accel_;
std::shared_ptr<ImuData> imu_gyro_;
bool publish_imu_by_sync_ = false;
bool publish_imu_by_sync_ = true;
std::map<Stream, bool> is_published_;
bool is_motion_published_;
bool is_started_;