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17 lines
472 B
Python
17 lines
472 B
Python
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#!/usr/bin/env python
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import rospy
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from sensor_msgs.msg import CameraInfo
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def callback(data):
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P = list(data.P);
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P[3] = P[3] * scale
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data.P = tuple(P);
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pub.publish(data)
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if __name__ == '__main__':
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rospy.init_node('republish_camera_info', anonymous=True)
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pub = rospy.Publisher('camera_info_out', CameraInfo, queue_size=1)
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scale = rospy.get_param('~scale', 1.091664)
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rospy.Subscriber("camera_info_in", CameraInfo, callback)
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rospy.spin()
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