From 0694bf1ef129439fcfb4a448a4f30ed1e10c5082 Mon Sep 17 00:00:00 2001
From: Serafadam <serafadam@gmail.com>
Date: Fri, 13 Oct 2023 15:57:31 +0000
Subject: [PATCH] minor fixes

---
 .../include/depthai_bridge/ImageConverter.hpp          |  1 +
 depthai_ros_driver/src/dai_nodes/stereo.cpp            |  2 --
 .../src/param_handlers/sensor_param_handler.cpp        | 10 ++--------
 3 files changed, 3 insertions(+), 10 deletions(-)

diff --git a/depthai_bridge/include/depthai_bridge/ImageConverter.hpp b/depthai_bridge/include/depthai_bridge/ImageConverter.hpp
index 2c5d9690..fa5b0b8a 100644
--- a/depthai_bridge/include/depthai_bridge/ImageConverter.hpp
+++ b/depthai_bridge/include/depthai_bridge/ImageConverter.hpp
@@ -120,6 +120,7 @@ class ImageConverter {
     dai::CameraExposureOffset _expOffset;
     bool _reverseStereoSocketOrder = false;
     double _baseline;
+    bool _alphaScalingEnabled = false;
     double _alphaScalingFactor = 0.0;
 };
 
diff --git a/depthai_ros_driver/src/dai_nodes/stereo.cpp b/depthai_ros_driver/src/dai_nodes/stereo.cpp
index 34953f5f..0df72364 100644
--- a/depthai_ros_driver/src/dai_nodes/stereo.cpp
+++ b/depthai_ros_driver/src/dai_nodes/stereo.cpp
@@ -220,8 +220,6 @@ void Stereo::setupStereoQueue(std::shared_ptr<dai::Device> device) {
         }
         info.R[0] = info.R[4] = info.R[8] = 1.0;
     }
-    im->setCameraInfo(info);
-
     stereoIM->setCameraInfo(info);
 
     stereoPubIT = it.advertiseCamera(getName() + "/image_raw", 1);
diff --git a/depthai_ros_driver/src/param_handlers/sensor_param_handler.cpp b/depthai_ros_driver/src/param_handlers/sensor_param_handler.cpp
index d766d4ef..544ce0e7 100644
--- a/depthai_ros_driver/src/param_handlers/sensor_param_handler.cpp
+++ b/depthai_ros_driver/src/param_handlers/sensor_param_handler.cpp
@@ -114,17 +114,11 @@ void SensorParamHandler::declareParams(std::shared_ptr<dai::node::ColorCamera> c
     int videoWidth = declareAndLogParam<int>("i_width", width);
     int videoHeight = declareAndLogParam<int>("i_height", height);
     if(videoWidth > maxVideoWidth) {
-        RCLCPP_WARN(getROSNode()->get_logger(),
-                    "Video width %d is greater than max video width %d. Setting video width to max video width.",
-                    videoWidth,
-                    maxVideoWidth);
+        ROS_WARN("Video width %d is greater than max video width %d. Setting video width to max video width.", videoWidth, maxVideoWidth);
         videoWidth = maxVideoWidth;
     }
     if(videoHeight > maxVideoHeight) {
-        RCLCPP_WARN(getROSNode()->get_logger(),
-                    "Video height %d is greater than max video height %d. Setting video height to max video height.",
-                    videoHeight,
-                    maxVideoHeight);
+        ROS_WARN("Video height %d is greater than max video height %d. Setting video height to max video height.", videoHeight, maxVideoHeight);
         videoHeight = maxVideoHeight;
     }
     colorCam->setVideoSize(videoWidth, videoHeight);