modified zed cam func

UBCAgroBot · Sep 11, 2024 · 7b5e4ef · 7b5e4ef
1 parent ed86b06
commit 7b5e4ef
Showing 1 changed file with 2 additions and 2 deletions.
diff --git a/ros2_ws/src/python_workspace/python_workspace/camera_node.py b/ros2_ws/src/python_workspace/python_workspace/camera_node.py
@@ -98,7 +98,7 @@ def publish_video_frames(self): # replace with decord later
 
         cap.release()
 
-    def camera_publisher(self):
+    def publish_zed_frames(self):
         # Create a ZED camera object
         zed = sl.Camera()
 
@@ -133,7 +133,7 @@ def camera_publisher(self):
             if err == sl.ERROR_CODE.SUCCESS:
                 self.index += 1
                 tic = time.perf_counter()
-                zed.retrieve_image(image_zed, sl.VIEW.LEFT_UNRECTIFIED, sl.MEM.GPU, image_size)
+                zed.retrieve_image(image_zed, sl.VIEW.LEFT_UNRECTIFIED, sl.MEM.CPU, image_size)
                 zed.get_sensors_data(sensors_data, sl.TIME_REFERENCE.IMAGE)
                 accel_data = sensors_data.get_imu_data().get_linear_acceleration()