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Merge branch 'master' of github.com:introlab/rtabmap_ros into ros2

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matlabbe
2025-08-04 20:07:08 -07:00
parent 7d3b524414 ad785e2327
commit e37f95d1f9
1 changed files with 0 additions and 19 deletions
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rtabmap_conversions/src/MsgConversion.cpp
-19
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@@ -835,25 +835,6 @@ rtabmap::CameraModel cameraModelFromROS(
D.at<double>(0,4) = camInfo.d[2]; D.at<double>(0,4) = camInfo.d[2];
D.at<double>(0,5) = camInfo.d[3]; 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)
{
UWARN("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 else
{ {
D = cv::Mat(1, camInfo.d.size(), CV_64FC1); D = cv::Mat(1, camInfo.d.size(), CV_64FC1);