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fix(ros): fix camera info bug

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This commit is contained in:
kalman 2019-02-22 15:09:06 +08:00
parent 84145cd35c
commit 7bc74f4d1b
1 changed files with 5 additions and 4 deletions
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9
wrappers/ros/src/mynt_eye_ros_wrapper/src/wrapper_nodelet.cc
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@ -623,11 +623,11 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
std::vector<Stream> all_streams{
Stream::RIGHT,
Stream::LEFT,
Stream::LEFT_RECTIFIED,
Stream::LEFT_RECTIFIED,
Stream::RIGHT_RECTIFIED,
Stream::DISPARITY,
Stream::DISPARITY,
Stream::DISPARITY_NORMALIZED,
Stream::POINTS,
Stream::POINTS,
Stream::DEPTH
};
@ -1290,7 +1290,8 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
}
for (int i = 0; i < p.rows; i++) {
for (int j = 0; j < p.cols; j++) {
camera_info->P.at(i * p.cols + j) = p.at<double>(i, j);
int scale = (i == 2 && j == 2)?1:1000;
camera_info->P.at(i * p.cols + j) = p.at<double>(i, j) / scale;
}
}