Could inverse extrinsics

2018-04-29 14:47:35 +08:00
parent 77837933bc
commit f3d6fcdcb9
3 changed files with 14 additions and 4 deletions
--- a/wrappers/ros/src/mynt_eye_ros_wrapper/src/wrapper_nodelet.cc
+++ b/wrappers/ros/src/mynt_eye_ros_wrapper/src/wrapper_nodelet.cc
@@ -426,12 +426,10 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
    camera_info->P.at(11) = 0;

    if (stream == Stream::RIGHT) {
-      /*
      auto &&ex = api_->GetExtrinsics(stream, Stream::LEFT);
      camera_info->P.at(3) = ex.translation[0];
      camera_info->P.at(7) = ex.translation[1];
      camera_info->P.at(11) = ex.translation[2];
-      */
    }

    camera_info->distortion_model = "plumb_bob";