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Fix baseline sign

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This commit is contained in:
Joe Dong
2024-07-30 10:06:42 +08:00
parent af1e426a81
commit c8c00ebc7f
1 changed files with 2 additions and 2 deletions
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orbbec_camera/src/ob_camera_node.cpp
+2 -2
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@@ -1794,8 +1794,8 @@ void OBCameraNode::onNewFrameCallback(const std::shared_ptr<ob::Frame> &frame,
auto ex = video_stream_profile->getExtrinsicTo(left_video_profile); auto ex = video_stream_profile->getExtrinsicTo(left_video_profile);
float fx = camera_info.k.at(0); float fx = camera_info.k.at(0);
float fy = camera_info.k.at(4); float fy = camera_info.k.at(4);
camera_info.p.at(3) = fx * ex.trans[0] / 1000.0 + 0.0; camera_info.p.at(3) = -fx * ex.trans[0] / 1000.0 + 0.0;
camera_info.p.at(7) = fy * ex.trans[1] / 1000.0 + 0.0; camera_info.p.at(7) = -fy * ex.trans[1] / 1000.0 + 0.0;
} }
CHECK(camera_info_publishers_.count(stream_index) > 0); CHECK(camera_info_publishers_.count(stream_index) > 0);
camera_info_publishers_[stream_index]->publish(camera_info); camera_info_publishers_[stream_index]->publish(camera_info);