From 0d92abca1ea7075290300be9f2d0b21a1dd86fe3 Mon Sep 17 00:00:00 2001
From: Fernando Herrero Cotarelo <fherrero@iri.upc.edu>
Date: Tue, 7 Jun 2016 14:47:16 +0000
Subject: [PATCH] iri_image_local_binarization: publish image with input image
header/stamp
---
src/image_local_binarization_alg_node.cpp | 6 +++++-
1 file changed, 5 insertions(+), 1 deletion(-)
diff --git a/src/image_local_binarization_alg_node.cpp b/src/image_local_binarization_alg_node.cpp
index 72607ac..25451c7 100644
--- a/src/image_local_binarization_alg_node.cpp
+++ b/src/image_local_binarization_alg_node.cpp
@@ -47,10 +47,14 @@ void ImageLocalBinarizationAlgNode::mainNodeThread(void)
/* [subscriber callbacks] */
void ImageLocalBinarizationAlgNode::image_in_callback(const sensor_msgs::Image::ConstPtr& msg, const sensor_msgs::CameraInfoConstPtr& info)
{
+ sensor_msgs::ImagePtr my_img;
+
try{
this->image_ = cv_bridge::toCvCopy(msg, "mono8");
this->alg_.localThreshold(this->image_->image, this->image_->image, this->k_,(this->window_size_ % 2 == 0 ? this->window_size_ + 1: this->window_size_));
- this->image_out_publisher_.publish(this->image_->toImageMsg(),info);
+ my_img = this->image_->toImageMsg();
+ my_img->header.stamp = msg->header.stamp;
+ this->image_out_publisher_.publish(my_img,info);
}catch(cv_bridge::Exception& e){
ROS_ERROR("cv_bridge exception: %s", e.what());
}
--
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