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fix(*): nodelet bug.

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This commit is contained in:
TinyO 2019-08-26 15:12:36 +08:00
parent 18a33d866d
commit 24e381dbb0
1 changed files with 11 additions and 11 deletions
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22
wrappers/ros/src/mynt_eye_ros_wrapper/src/wrapper_nodelet.cc
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@ -1326,22 +1326,22 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
stream == Stream::RIGHT_RECTIFIED) { stream == Stream::RIGHT_RECTIFIED) {
if (info_pair->right.distortion_model == "KANNALA_BRANDT") { if (info_pair->right.distortion_model == "KANNALA_BRANDT") {
camera_info->distortion_model = "KANNALA_BRANDT"; camera_info->distortion_model = "KANNALA_BRANDT";
for (size_t i; i < 4; i++) { for (size_t i = 0; i < 4; i++) {
camera_info->D.push_back(info_pair->right.D[i]); camera_info->D.push_back(info_pair->right.D[i]);
} }
} else if (info_pair->right.distortion_model == "PINHOLE") { } else if (info_pair->right.distortion_model == "PINHOLE") {
camera_info->distortion_model = "plumb_bob"; camera_info->distortion_model = "plumb_bob";
for (size_t i; i < 5; i++) { for (size_t i = 0; i < 5; i++) {
camera_info->D.push_back(info_pair->right.D[i]); camera_info->D.push_back(info_pair->right.D[i]);
} }
} }
for (size_t i; i < 9; i++) { for (size_t i = 0; i < 9; i++) {
camera_info->K.at(i) = info_pair->right.K[i]; camera_info->K.at(i) = info_pair->right.K[i];
} }
for (size_t i; i < 9; i++) { for (size_t i = 0; i < 9; i++) {
camera_info->R.at(i) = info_pair->right.R[i]; camera_info->R.at(i) = info_pair->right.R[i];
} }
for (size_t i; i < 12; i++) { for (size_t i = 0; i < 12; i++) {
camera_info->P.at(i) = info_pair->right.P[i]; camera_info->P.at(i) = info_pair->right.P[i];
} }
} else { } else {
@ -1351,28 +1351,28 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
private_nh_.getParamCached("is_laserscan", is_laserscan); private_nh_.getParamCached("is_laserscan", is_laserscan);
if (!is_laserscan) { if (!is_laserscan) {
camera_info->distortion_model = "KANNALA_BRANDT"; camera_info->distortion_model = "KANNALA_BRANDT";
for (size_t i; i < 4; i++) { for (size_t i = 0; i < 4; i++) {
camera_info->D.push_back(info_pair->left.D[i]); camera_info->D.push_back(info_pair->left.D[i]);
} }
} else { } else {
camera_info->distortion_model = "KANNALA_BRANDT"; camera_info->distortion_model = "KANNALA_BRANDT";
for (size_t i; i < 4; i++) { for (size_t i = 0; i < 4; i++) {
camera_info->D.push_back(0.0); camera_info->D.push_back(0.0);
} }
} }
} else if (info_pair->left.distortion_model == "PINHOLE") { } else if (info_pair->left.distortion_model == "PINHOLE") {
camera_info->distortion_model = "plumb_bob"; camera_info->distortion_model = "plumb_bob";
for (size_t i; i < 5; i++) { for (size_t i = 0; i < 5; i++) {
camera_info->D.push_back(info_pair->left.D[i]); camera_info->D.push_back(info_pair->left.D[i]);
} }
} }
for (size_t i; i < 9; i++) { for (size_t i = 0; i < 9; i++) {
camera_info->K.at(i) = info_pair->left.K[i]; camera_info->K.at(i) = info_pair->left.K[i];
} }
for (size_t i; i < 9; i++) { for (size_t i = 0; i < 9; i++) {
camera_info->R.at(i) = info_pair->left.R[i]; camera_info->R.at(i) = info_pair->left.R[i];
} }
for (size_t i; i < 12; i++) { for (size_t i = 0; i < 12; i++) {
camera_info->P.at(i) = info_pair->left.P[i]; camera_info->P.at(i) = info_pair->left.P[i];
} }
} }