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Fixed rover_camera node names so they correspond to the resolution. Also some compile option changes.

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This commit is contained in:
Corwin Perren
2017-12-28 22:13:49 -08:00
parent f207446293
commit da77c67454
8 changed files with 14 additions and 8 deletions
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9
rover/rover_camera/src/rover_camera.cpp
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@@ -1,4 +1,4 @@
#include <string.h>
#include <string>
#include <iostream>
#include <ros/ros.h>
@@ -41,11 +41,14 @@ int main(int argc, char** argv)
return -1;
}
std::string large_image_node_name = "image_" + std::to_string(large_image_width) + "x" + std::to_string(large_image_height);
std::string small_image_node_name = "image_" + std::to_string(small_image_width) + "x" + std::to_string(small_image_height);
image_transport::ImageTransport full_res_image_transport(node_handle);
image_transport::ImageTransport lower_res_image_transport(node_handle);
image_transport::Publisher full_size_publisher = full_res_image_transport.advertise("image_720p", 1);
image_transport::Publisher lower_size_publisher = lower_res_image_transport.advertise("image_360p", 1);
image_transport::Publisher full_size_publisher = full_res_image_transport.advertise(large_image_node_name, 1);
image_transport::Publisher lower_size_publisher = lower_res_image_transport.advertise(small_image_node_name, 1);
cv::Mat image;
cv::Mat image_smaller;