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fixed camera info

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This commit is contained in:
Joe Dong
2023-09-20 17:56:45 +08:00
parent 8fbbed52c7
commit 6abfafed2b
1 changed files with 1 additions and 9 deletions
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orbbec_camera/src/utils.cpp
+1 -9
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@@ -20,6 +20,7 @@
namespace orbbec_camera {
sensor_msgs::msg::CameraInfo convertToCameraInfo(OBCameraIntrinsic intrinsic,
OBCameraDistortion distortion, int width) {
(void)width;
sensor_msgs::msg::CameraInfo info;
info.distortion_model = sensor_msgs::distortion_models::PLUMB_BOB;
info.width = intrinsic.width;
@@ -49,15 +50,6 @@ 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;
}