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Updated camera_info conversion for odometry nodes (https://github.com/introlab/rtabmap/issues/64)

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matlabbe
2016-03-27 10:09:30 -04:00
parent 81096a3f15
commit 19225a66be
2 changed files with 7 additions and 30 deletions
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src/RGBDOdometryNode.cpp
+2 -16
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@@ -189,14 +189,7 @@ public:
if(image->data.size() && depth->data.size() && cameraInfo->K[4] != 0)
{
image_geometry::PinholeCameraModel model;
model.fromCameraInfo(*cameraInfo);
rtabmap::CameraModel rtabmapModel(
model.fx(),
model.fy(),
model.cx(),
model.cy(),
localTransform);
rtabmap::CameraModel rtabmapModel = rtabmap_ros::cameraModelFromROS(*cameraInfo, localTransform);
cv_bridge::CvImagePtr ptrImage = cv_bridge::toCvCopy(image, image->encoding.compare(sensor_msgs::image_encodings::TYPE_8UC1)==0?"":"mono8");
cv_bridge::CvImagePtr ptrDepth = cv_bridge::toCvCopy(depth);
@@ -321,14 +314,7 @@ public:
return;
}
image_geometry::PinholeCameraModel model;
model.fromCameraInfo(*infoMsgs[i]);
cameraModels.push_back(rtabmap::CameraModel(
model.fx(),
model.fy(),
model.cx(),
model.cy(),
localTransform));
cameraModels.push_back(rtabmap_ros::cameraModelFromROS(*infoMsgs[i], localTransform));
}
rtabmap::SensorData data(