Replaced image_transport subscribers with normal image subscriber, as camera_info is not used

include/iri_color_calibration_alg_node.h

@@ -69,16 +69,20 @@ class ColorCalibrationAlgNode : public algorithm_base::IriBaseAlgorithm<ColorCal
     void blobs_mutex_exit(void);
     std::vector<TBlob> blobs;
 
-    image_transport::CameraSubscriber segmented_image_subscriber_;
-    void segmented_image_callback(const sensor_msgs::Image::ConstPtr& msg,const sensor_msgs::CameraInfoConstPtr& info);
+    //image_transport::CameraSubscriber segmented_image_subscriber_;
+    ros::Subscriber segmented_img_subscriber_;
+    //void segmented_image_callback(const sensor_msgs::Image::ConstPtr& msg,const sensor_msgs::CameraInfoConstPtr& info);
+    void segmented_image_callback(const sensor_msgs::Image::ConstPtr& msg);
     pthread_mutex_t segmented_image_mutex_;
     void segmented_image_mutex_enter(void);
     void segmented_image_mutex_exit(void);
     sensor_msgs::Image segmented_image;
     bool segmented_image_received;
 
-    image_transport::CameraSubscriber original_image_subscriber_;
-    void original_image_callback(const sensor_msgs::Image::ConstPtr& msg,const sensor_msgs::CameraInfoConstPtr& info);
+    //image_transport::CameraSubscriber original_image_subscriber_;
+    ros::Subscriber original_img_subscriber_;
+    //void original_image_callback(const sensor_msgs::Image::ConstPtr& msg,const sensor_msgs::CameraInfoConstPtr& info);
+    void original_image_callback(const sensor_msgs::Image::ConstPtr& msg);
     pthread_mutex_t original_image_mutex_;
     void original_image_mutex_enter(void);
     void original_image_mutex_exit(void);

src/iri_color_calibration_alg_node.cpp

@@ -17,10 +17,12 @@ ColorCalibrationAlgNode::ColorCalibrationAlgNode(MainGui *gui) :
   this->blobs_subscriber_ = this->public_node_handle_.subscribe("blobs", 1, &ColorCalibrationAlgNode::blobs_callback, this);
   pthread_mutex_init(&this->blobs_mutex_,NULL);
 
-  this->segmented_image_subscriber_ = this->it.subscribeCamera("segmented_image/image_raw", 1, &ColorCalibrationAlgNode::segmented_image_callback, this);
+  //this->segmented_image_subscriber_ = this->it.subscribeCamera("segmented_image/image_raw", 1, &ColorCalibrationAlgNode::segmented_image_callback, this);
+  this->segmented_img_subscriber_ = this->public_node_handle_.subscribe("segmented_image/image_raw", 1, &ColorCalibrationAlgNode::segmented_image_callback, this);
   pthread_mutex_init(&this->segmented_image_mutex_,NULL);
 
-  this->original_image_subscriber_ = this->it.subscribeCamera("original_image/image_raw", 1, &ColorCalibrationAlgNode::original_image_callback, this);
+  //this->original_image_subscriber_ = this->it.subscribeCamera("original_image/image_raw", 1, &ColorCalibrationAlgNode::original_image_callback, this);
+  this->original_img_subscriber_ = this->public_node_handle_.subscribe("original_image/image_raw", 1, &ColorCalibrationAlgNode::original_image_callback, this);
   pthread_mutex_init(&this->original_image_mutex_,NULL);
   this->original_image_received=false;
   this->segmented_image_received=false;
@@ -92,7 +94,8 @@ void ColorCalibrationAlgNode::blobs_mutex_exit(void)
   pthread_mutex_unlock(&this->blobs_mutex_);
 }
 
-void ColorCalibrationAlgNode::segmented_image_callback(const sensor_msgs::Image::ConstPtr& msg, const sensor_msgs::CameraInfoConstPtr& info)
+//void ColorCalibrationAlgNode::segmented_image_callback(const sensor_msgs::Image::ConstPtr& msg, const sensor_msgs::CameraInfoConstPtr& info)
+void ColorCalibrationAlgNode::segmented_image_callback(const sensor_msgs::Image::ConstPtr& msg)
 {
   //use appropiate mutex to shared variables if necessary
   //this->alg_.lock();
@@ -119,7 +122,8 @@ void ColorCalibrationAlgNode::segmented_image_mutex_exit(void)
   pthread_mutex_unlock(&this->segmented_image_mutex_);
 }
 
-void ColorCalibrationAlgNode::original_image_callback(const sensor_msgs::Image::ConstPtr& msg, const sensor_msgs::CameraInfoConstPtr& info)
+//void ColorCalibrationAlgNode::original_image_callback(const sensor_msgs::Image::ConstPtr& msg, const sensor_msgs::CameraInfoConstPtr& info)
+void ColorCalibrationAlgNode::original_image_callback(const sensor_msgs::Image::ConstPtr& msg)
 {
   //use appropiate mutex to shared variables if necessary
   //this->alg_.lock();