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Fix distortion parameter bugs, see #15

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This commit is contained in:
Joe Dong
2023-12-16 15:08:41 +08:00
parent d03b998cd3
commit 8b90b4d11a
3 changed files with 22 additions and 3 deletions
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orbbec_camera/src/utils.cpp
+3 -3
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@@ -28,9 +28,9 @@ sensor_msgs::msg::CameraInfo convertToCameraInfo(OBCameraIntrinsic intrinsic,
info.d.resize(5, 0.0);
info.d[0] = distortion.k1;
info.d[1] = distortion.k2;
info.d[2] = distortion.k3;
info.d[3] = distortion.k4;
info.d[4] = distortion.k5;
info.d[2] = distortion.p1;
info.d[3] = distortion.p2;
info.d[4] = distortion.k3;
info.k.fill(0.0);
info.k[0] = intrinsic.fx;