i/OrbbecSDK_ROS2
1
0
Fork 0
mirror of https://github.com/orbbec/OrbbecSDK_ROS2.git synced 2026-10-04 20:17:47 +08:00
Code Issues Packages Projects Releases Wiki Activity

refactory get stream

Browse Source
This commit is contained in:
Joe Dong
2022-12-28 16:39:11 +08:00
parent 02cc12518b
commit 2d82c14dec
4 changed files with 98 additions and 173 deletions
Download Patch File Download Diff File Expand all files Collapse all files
orbbec_camera/src/utils.cpp
+10 -2
View File
@@ -13,7 +13,7 @@
#include "orbbec_camera/utils.h"
namespace orbbec_camera {
sensor_msgs::msg::CameraInfo convertToCameraInfo(OBCameraIntrinsic intrinsic,
OBCameraDistortion distortion) {
OBCameraDistortion distortion, int width) {
sensor_msgs::msg::CameraInfo info;
info.distortion_model = sensor_msgs::distortion_models::PLUMB_BOB;
info.width = intrinsic.width;
@@ -43,7 +43,15 @@ sensor_msgs::msg::CameraInfo convertToCameraInfo(OBCameraIntrinsic intrinsic,
info.p[5] = info.k[4];
info.p[6] = info.k[5];
info.p[10] = 1.0;
double scaling = static_cast<double>(width) / 640;
info.k[0] *= scaling; // fx
info.k[2] *= scaling; // cx
info.k[4] *= scaling; // fy
info.k[5] *= scaling; // cy
info.p[0] *= scaling; // fx
info.p[2] *= scaling; // cx
info.p[5] *= scaling; // fy
info.p[6] *= scaling; // cy
return info;
}