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fixed compilation with new multicam branch

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matlabbe
2022-07-07 13:44:19 -04:00
parent c4a6fba8e8
commit eb932a86ee
13 changed files with 128 additions and 105 deletions
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src/StereoCameraNode.cpp
+14 -7
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@@ -86,13 +86,20 @@ int main(int argc, char** argv)
cv::resize(data.rightRaw(), imageRight.image, cv::Size(0,0), scale, scale, CV_INTER_AREA);
imageRightPub.publish(imageRight.toImageMsg());
sensor_msgs::CameraInfo infoLeft, infoRight;
rtabmap_ros::cameraModelToROS(data.stereoCameraModel().left().scaled(scale), infoLeft);
rtabmap_ros::cameraModelToROS(data.stereoCameraModel().right().scaled(scale), infoRight);
infoLeft.header = imageLeft.header;
infoRight.header = imageLeft.header;
infoLeftPub.publish(infoLeft);
infoRightPub.publish(infoRight);
if(data.stereoCameraModels().size())
{
sensor_msgs::CameraInfo infoLeft, infoRight;
rtabmap_ros::cameraModelToROS(data.stereoCameraModels()[0].left().scaled(scale), infoLeft);
rtabmap_ros::cameraModelToROS(data.stereoCameraModels()[0].right().scaled(scale), infoRight);
infoLeft.header = imageLeft.header;
infoRight.header = imageLeft.header;
infoLeftPub.publish(infoLeft);
infoRightPub.publish(infoRight);
}
else
{
ROS_ERROR("No calibration loaded!");
}
ros::spinOnce();
}