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pointcloud_to_depthimage: republish scaled camera_info in case decimation parameter has been used.

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matlabbe
2022-03-06 17:48:47 -05:00
parent 05a1be02a4
commit ec9d32bebd
2 changed files with 13 additions and 3 deletions
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src/MsgConversion.cpp
+1 -1
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@@ -878,7 +878,7 @@ void cameraModelToROS(
memcpy(camInfo.K.elems, model.K_raw().data, 9*sizeof(double));
}
if(camInfo.D.size() == 6)
if(model.D_raw().total() == 6)
{
camInfo.D = std::vector<double>(4);
camInfo.D[0] = model.D_raw().at<double>(0,0);