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camera info conversion: Handling distortion with more than 8 coefficients

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matlabbe
2021-07-31 10:05:42 -04:00
parent d7a33b86ed
commit d2465851de
1 changed files with 19 additions and 0 deletions
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src/MsgConversion.cpp
+19
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@@ -803,6 +803,25 @@ rtabmap::CameraModel cameraModelFromROS(
D.at<double>(0,4) = camInfo.D[2];
D.at<double>(0,5) = camInfo.D[3];
}
else if(camInfo.D.size()>8)
{
bool zerosAfter8 = true;
for(size_t i=8; i<camInfo.D.size() && zerosAfter8; ++i)
{
if(camInfo.D[i] != 0.0)
{
zerosAfter8 = false;
}
}
static bool warned = false;
if(!zerosAfter8 && !warned)
{
ROS_WARN("Camera info conversion: Distortion model is larger than 8, coefficients after 8 are ignored. This message is only shown once.");
warned = true;
}
D = cv::Mat(1, 8, CV_64FC1);
memcpy(D.data, camInfo.D.data(), D.cols*sizeof(double));
}
else
{
D = cv::Mat(1, camInfo.D.size(), CV_64FC1);