tami/MYNT-EYE-S-SDK
6
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

fix(ros): fix camera info bug

Browse Source
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
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

9
wrappers/ros/src/mynt_eye_ros_wrapper/src/wrapper_nodelet.cc
View File

@ -623,11 +623,11 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
std::vector<Stream> all_streams{ std::vector<Stream> all_streams{
Stream::RIGHT, Stream::RIGHT,
Stream::LEFT, Stream::LEFT,
Stream::LEFT_RECTIFIED, Stream::LEFT_RECTIFIED,
Stream::RIGHT_RECTIFIED, Stream::RIGHT_RECTIFIED,
Stream::DISPARITY, Stream::DISPARITY,
Stream::DISPARITY_NORMALIZED, Stream::DISPARITY_NORMALIZED,
Stream::POINTS, Stream::POINTS,
Stream::DEPTH Stream::DEPTH
}; };
@ -1290,7 +1290,8 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
} }
for (int i = 0; i < p.rows; i++) { for (int i = 0; i < p.rows; i++) {
for (int j = 0; j < p.cols; j++) { 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;
} }
} }