[Personalrobots-commit] SF.net SVN: personalrobots:[18854] pkg/trunk/stacks

[<mar...@us...>]

Revision: 18854
          http://personalrobots.svn.sourceforge.net/personalrobots/?rev=18854&view=rev
Author:   mariusmuja
Date:     2009-07-15 17:26:19 +0000 (Wed, 15 Jul 2009)

Log Message:
-----------
Fixes to door_handle_detector and outlet_spotting so that thei can be used with the double stereo setup

Modified Paths:
--------------
    pkg/trunk/stacks/semantic_mapping/door_handle_detector/src/handle_detector_vision.cpp
    pkg/trunk/stacks/visual_feature_detectors/outlet_detection/src/outlet_spotting2.cpp

Modified: pkg/trunk/stacks/semantic_mapping/door_handle_detector/src/handle_detector_vision.cpp
===================================================================
--- pkg/trunk/stacks/semantic_mapping/door_handle_detector/src/handle_detector_vision.cpp	2009-07-15 17:15:45 UTC (rev 18853)
+++ pkg/trunk/stacks/semantic_mapping/door_handle_detector/src/handle_detector_vision.cpp	2009-07-15 17:26:19 UTC (rev 18854)
@@ -234,12 +234,12 @@
 
     void subscribeStereoData()
     {
-		left_image_sub_ = nh_.subscribe("stereo/left/image_rect", 1, sync_.synchronize(&HandleDetector::leftImageCallback, this));
-//		right_caminfo_sub_ = nh_.subscribe("stereo/right/cam_info", 1, sync_.synchronize(&HandleDetector::rightCamInfoCallback, this));
-		disparity_sub_ = nh_.subscribe("stereo/disparity", 1, sync_.synchronize(&HandleDetector::disparityImageCallback, this));
-		cloud_sub_ = nh_.subscribe("stereo/cloud", 1, sync_.synchronize(&HandleDetector::cloudCallback, this));
-		dispinfo_sub_ = nh_.subscribe("stereo/disparity_info", 1, sync_.synchronize(&HandleDetector::dispinfoCallback, this));
-//		stereoinfo_sub_ = nh_.subscribe("stereo/stereo_info", 1, sync_.synchronize(&HandleDetector::stereoinfoCallback, this));
+		left_image_sub_ = nh_.subscribe(nh_.resolveName("stereo")+"/left/image_rect", 1, sync_.synchronize(&HandleDetector::leftImageCallback, this));
+//		right_caminfo_sub_ = nh_.subscribe(nh_.resolveName("stereo")+"/right/cam_info", 1, sync_.synchronize(&HandleDetector::rightCamInfoCallback, this));
+		disparity_sub_ = nh_.subscribe(nh_.resolveName("stereo")+"/disparity", 1, sync_.synchronize(&HandleDetector::disparityImageCallback, this));
+		cloud_sub_ = nh_.subscribe(nh_.resolveName("stereo")+"/cloud", 1, sync_.synchronize(&HandleDetector::cloudCallback, this));
+		dispinfo_sub_ = nh_.subscribe(nh_.resolveName("stereo")+"/disparity_info", 1, sync_.synchronize(&HandleDetector::dispinfoCallback, this));
+//		stereoinfo_sub_ = nh_.subscribe(nh_.resolveName("stereo")+"/stereo_info", 1, sync_.synchronize(&HandleDetector::stereoinfoCallback, this));
     }
 
 

Modified: pkg/trunk/stacks/visual_feature_detectors/outlet_detection/src/outlet_spotting2.cpp
===================================================================
--- pkg/trunk/stacks/visual_feature_detectors/outlet_detection/src/outlet_spotting2.cpp	2009-07-15 17:15:45 UTC (rev 18853)
+++ pkg/trunk/stacks/visual_feature_detectors/outlet_detection/src/outlet_spotting2.cpp	2009-07-15 17:26:19 UTC (rev 18854)
@@ -262,11 +262,11 @@
     {
 
 
-		left_image_sub_ = nh_.subscribe("stereo/left/image_rect", 1, sync_.synchronize(&OutletSpotting::leftImageCallback, this));
-		left_caminfo_sub_ = nh_.subscribe("stereo/left/cam_info", 1, sync_.synchronize(&OutletSpotting::leftCamInfoCallback, this));
-		disparity_sub_ = nh_.subscribe("stereo/disparity", 1, sync_.synchronize(&OutletSpotting::disparityImageCallback, this));
-		cloud_sub_ = nh_.subscribe("stereo/cloud", 1, sync_.synchronize(&OutletSpotting::cloudCallback, this));
-		dispinfo_sub_ = nh_.subscribe("stereo/disparity_info", 1, sync_.synchronize(&OutletSpotting::dispinfoCallback, this));
+		left_image_sub_ = nh_.subscribe(nh_.resolveName("stereo")+"/left/image_rect", 1, sync_.synchronize(&OutletSpotting::leftImageCallback, this));
+		left_caminfo_sub_ = nh_.subscribe(nh_.resolveName("stereo")+"/left/cam_info", 1, sync_.synchronize(&OutletSpotting::leftCamInfoCallback, this));
+		disparity_sub_ = nh_.subscribe(nh_.resolveName("stereo")+"/disparity", 1, sync_.synchronize(&OutletSpotting::disparityImageCallback, this));
+		cloud_sub_ = nh_.subscribe(nh_.resolveName("stereo")+"/cloud", 1, sync_.synchronize(&OutletSpotting::cloudCallback, this));
+		dispinfo_sub_ = nh_.subscribe(nh_.resolveName("stereo")+"/disparity_info", 1, sync_.synchronize(&OutletSpotting::dispinfoCallback, this));
 
 		base_scan_sub_ = nh_.subscribe(base_scan_topic_, 1, &OutletSpotting::baseScanCallback, this);
     }


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