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feat(ros): publish camera info with kannala_brandt model

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This commit is contained in:
John Zhao
2019-01-06 15:03:29 +08:00
parent 19e5f60566
commit e91c5d53fd
2 changed files with 77 additions and 38 deletions
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5
samples/tutorials/data/get_img_params.cc
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@@ -26,8 +26,9 @@ int main(int argc, char *argv[]) {
if (!ok) return 1;
api->ConfigStreamRequest(request);
LOG(INFO) << "Intrinsics left: {" << api->GetIntrinsics(Stream::LEFT) << "}";
LOG(INFO) << "Intrinsics right: {" << api->GetIntrinsics(Stream::RIGHT)
LOG(INFO) << "Intrinsics left: {" << *api->GetIntrinsicsBase(Stream::LEFT)
<< "}";
LOG(INFO) << "Intrinsics right: {" << *api->GetIntrinsicsBase(Stream::RIGHT)
<< "}";
LOG(INFO) << "Extrinsics right to left: {"
<< api->GetExtrinsics(Stream::RIGHT, Stream::LEFT) << "}";