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fix: publish matching camera distortion models

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slz
2026-09-03 15:06:34 +08:00
parent 27e0c7dc97
commit d9fca90bcc
4 changed files with 88 additions and 10 deletions
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orbbec_camera/src/utils.cpp
+9 -10
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@@ -95,15 +95,14 @@ sensor_msgs::msg::CameraInfo convertToCameraInfo(OBCameraIntrinsic intrinsic,
info.distortion_model = getDistortionModels(distortion);
info.width = intrinsic.width;
info.height = intrinsic.height;
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;
if (info.distortion_model == sensor_msgs::distortion_models::RATIONAL_POLYNOMIAL) {
info.d = {distortion.k1, distortion.k2, distortion.p1, distortion.p2,
distortion.k3, distortion.k4, distortion.k5, distortion.k6};
} else if (info.distortion_model == sensor_msgs::distortion_models::EQUIDISTANT) {
info.d = {distortion.k1, distortion.k2, distortion.k3, distortion.k4};
} else {
info.d = {distortion.k1, distortion.k2, distortion.p1, distortion.p2, distortion.k3};
}
bool all_zero = std::all_of(info.d.begin(), info.d.end(), [](double val) { return val == 0.0; });
info.roi.do_rectify = all_zero;
@@ -1174,7 +1173,7 @@ std::string getDistortionModels(OBCameraDistortion distortion) {
case OB_DISTORTION_BROWN_CONRADY:
return sensor_msgs::distortion_models::PLUMB_BOB;
case OB_DISTORTION_BROWN_CONRADY_K6:
return sensor_msgs::distortion_models::PLUMB_BOB;
return sensor_msgs::distortion_models::RATIONAL_POLYNOMIAL;
case OB_DISTORTION_KANNALA_BRANDT4:
return sensor_msgs::distortion_models::EQUIDISTANT;
default: