Commit ab0480d7 authored by Retenua AB's avatar Retenua AB

bugfix raw data mode

parent b442b36c
......@@ -511,27 +511,27 @@ int main(int argc, char **argv)
ros::Time tsNIRsig = _startTimeROS + ros::Duration(images[0].timestamp-_startTimeRefleX);
ros::Time tsNIRref = _startTimeROS + ros::Duration(images[2].timestamp-_startTimeRefleX);
sensor_msgs::ImagePtr msgNIRsig1 = cv_bridge::CvImage(std_msgs::Header(), "mono8", imgNIRSig[CAM1]).toImageMsg();
sensor_msgs::ImagePtr msgNIRsig1 = cv_bridge::CvImage(std_msgs::Header(), "mono8", images[0].img).toImageMsg();
msgNIRsig1->header.stamp = tsNIRsig;
msgNIRsig1->header.frame_id = "reflex_nir_cam1";
msgNIRsig1->header.frame_id = "reflex_cam1";
_msgCameraInfo[CAM1]->header.stamp = tsNIRsig;
pubCamNIRsig[CAM1].publish(msgNIRsig1, _msgCameraInfo[CAM1]);
sensor_msgs::ImagePtr msgNIRsig2 = cv_bridge::CvImage(std_msgs::Header(), "mono8", imgNIRSig[CAM2]).toImageMsg();
msgNIRsig2->header.stamp = tsNIRsig;
msgNIRsig2->header.frame_id = "reflex_nir_cam2";
_msgCameraInfo[CAM2]->header.stamp = tsNIRsig;
pubCamNIRsig[CAM2].publish(msgNIRsig2, _msgCameraInfo[CAM2]);
sensor_msgs::ImagePtr msgNIRref1 = cv_bridge::CvImage(std_msgs::Header(), "mono8", imgNIRRef[CAM1]).toImageMsg();
sensor_msgs::ImagePtr msgNIRref1 = cv_bridge::CvImage(std_msgs::Header(), "mono8", images[2].img).toImageMsg();
msgNIRref1->header.stamp = tsNIRref;
msgNIRref1->header.frame_id = "reflex_nir_cam1";
msgNIRref1->header.frame_id = "reflex_cam2";
_msgCameraInfo[CAM1]->header.stamp = tsNIRref;
pubCamNIRref[CAM1].publish(msgNIRref1, _msgCameraInfo[CAM1]);
sensor_msgs::ImagePtr msgNIRref2 = cv_bridge::CvImage(std_msgs::Header(), "mono8", imgNIRRef[CAM2]).toImageMsg();
sensor_msgs::ImagePtr msgNIRsig2 = cv_bridge::CvImage(std_msgs::Header(), "mono8", images[1].img).toImageMsg();
msgNIRsig2->header.stamp = tsNIRsig;
msgNIRsig2->header.frame_id = "reflex_cam1";
_msgCameraInfo[CAM2]->header.stamp = tsNIRsig;
pubCamNIRsig[CAM2].publish(msgNIRsig2, _msgCameraInfo[CAM2]);
sensor_msgs::ImagePtr msgNIRref2 = cv_bridge::CvImage(std_msgs::Header(), "mono8", images[3].img).toImageMsg();
msgNIRref2->header.stamp = tsNIRref;
msgNIRref2->header.frame_id = "reflex_nir_cam2";
msgNIRref2->header.frame_id = "reflex_cam2";
_msgCameraInfo[CAM2]->header.stamp = tsNIRref;
pubCamNIRref[CAM2].publish(msgNIRref2, _msgCameraInfo[CAM2]);
......
Markdown is supported
0% or
You are about to add 0 people to the discussion. Proceed with caution.
Finish editing this message first!
Please register or to comment