Method publishImages

okvis_ros/src/Publisher.cpp:880–906

Publish the last set images.

// Publish the last set images.
void Publisher::publishImages() {
  // advertise what's been missing:
  if (images_.size() != pubImagesVector_.size()) {
    pubImagesVector_.clear();
    for (size_t i = 0; i < images_.size(); ++i) {
      std::stringstream drawingNameStream;
      drawingNameStream << "okvis_drawing_" << i;
      pubImagesVector_.push_back(image_transport_.advertise(drawingNameStream.str(), 10));
    }
  }

  // publish:
  for (size_t i = 0; i < images_.size(); ++i) {
    sensor_msgs::msg::Image msg;
    std::stringstream cameraNameStream;
    cameraNameStream << "camera_" << i;
    msg.header.stamp = node_->get_clock()->now();
    msg.header.frame_id = cameraNameStream.str();
    sensor_msgs::fillImage(msg,
                           sensor_msgs::image_encodings::MONO8,
                           images_[i].rows,
                           images_[i].cols,
                           images_[i].step.buf[0],
                           images_[i].data);
    pubImagesVector_[i].publish(msg);
  }
}

// Publish the last set path.
void Publisher::publishPath() { pubPath_->publish(path_); }