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Fixed right ir error

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This commit is contained in:
Joe Dong
2024-07-09 10:02:16 +08:00
parent b1c0e0f8b6
commit 51bf9ecb33
1 changed files with 4 additions and 0 deletions
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orbbec_camera/src/ob_camera_node.cpp
+4
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@@ -2079,6 +2079,9 @@ void OBCameraNode::calcAndPublishStaticTransform() {
<< ", " << Q.getW());
auto timestamp = node_->now();
if (stream_index.first != base_stream_.first) {
if (stream_index.first == OB_STREAM_IR_RIGHT) {
trans[0] = std::abs(trans[0]); // because left and right ir calibration is error
}
publishStaticTF(timestamp, trans, Q, frame_id_[base_stream_], frame_id_[stream_index]);
}
publishStaticTF(timestamp, zero_trans, quaternion_optical, frame_id_[stream_index],
@@ -2150,6 +2153,7 @@ void OBCameraNode::calcAndPublishStaticTransform() {
"Failed to get " << frame_id << " extrinsic: " << e.getMessage());
ex = OBExtrinsic({{1, 0, 0, 0, 1, 0, 0, 0, 1}, {0, 0, 0}});
}
ex.trans[0] = std::abs(ex.trans[0]); // because left and right ir calibration is error
depth_to_other_extrinsics_[INFRA2] = ex;
auto ex_msg = obExtrinsicsToMsg(ex, frame_id);
depth_to_other_extrinsics_publishers_[INFRA2]->publish(ex_msg);