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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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.idea/codeStyles/Project.xml
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+14
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@@ -0,0 +1,14 @@
<component name="ProjectCodeStyleConfiguration">
<code_scheme name="Project" version="173">
<clangFormatSettings>
<option name="ENABLED" value="true" />
</clangFormatSettings>
<codeStyleSettings language="CMake">
<indentOptions>
<option name="INDENT_SIZE" value="2" />
<option name="CONTINUATION_INDENT_SIZE" value="2" />
<option name="TAB_SIZE" value="2" />
</indentOptions>
</codeStyleSettings>
</code_scheme>
</component>
.idea/codeStyles/codeStyleConfig.xml
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+5
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@@ -0,0 +1,5 @@
<component name="ProjectCodeStyleConfiguration">
<state>
<option name="USE_PER_PROJECT_SETTINGS" value="true" />
</state>
</component>
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.resize(5, 0.0);
info.d[0] = distortion.k1; info.d[0] = distortion.k1;
info.d[1] = distortion.k2; info.d[1] = distortion.k2;
info.d[2] = distortion.k3; info.d[2] = distortion.p1;
info.d[3] = distortion.k4; info.d[3] = distortion.p2;
info.d[4] = distortion.k5; info.d[4] = distortion.k3;
info.k.fill(0.0); info.k.fill(0.0);
info.k[0] = intrinsic.fx; info.k[0] = intrinsic.fx;