i/OrbbecSDK_ROS2
1
0
Fork 0
mirror of https://github.com/orbbec/OrbbecSDK_ROS2.git synced 2026-09-15 04:20:20 +08:00
Code Issues Packages Projects Releases Wiki Activity

fixed distortion model

Browse Source
This commit is contained in:
Joe Dong
2023-12-21 17:03:18 +08:00
parent d4b5d03686
commit 884ca95872
1 changed files with 6 additions and 2 deletions
Download Patch File Download Diff File Expand all files Collapse all files
orbbec_camera/src/utils.cpp
+6 -2
View File
@@ -22,15 +22,19 @@ 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.distortion_model = sensor_msgs::distortion_models::RATIONAL_POLYNOMIAL;
info.width = intrinsic.width;
info.height = intrinsic.height;
info.d.resize(5, 0.0);
info.d.resize(8, 0.0);
info.d[0] = distortion.k1;
info.d[1] = distortion.k2;
info.d[2] = distortion.p1;
info.d[3] = distortion.p2;
info.d[4] = distortion.k3;
info.d[5] = distortion.k4;
info.d[6] = distortion.k5;
info.d[7] = distortion.k6;
info.k.fill(0.0);
info.k[0] = intrinsic.fx;