Fix camera model from ros-naoqi#50

awesomebytes · May 10, 2017 · 04840ca · 04840ca
1 parent 12b5370
commit 04840ca
Showing 1 changed file with 6 additions and 6 deletions.
diff --git a/src/converters/camera_info_definitions.hpp b/src/converters/camera_info_definitions.hpp
@@ -173,8 +173,8 @@ inline sensor_msgs::CameraInfo createCameraInfoDEPTHVGA()
   cam_info_msg.height = 480;
   cam_info_msg.K = boost::array<double, 9>{{ 525, 0, 319.5000000, 0, 525, 239.5000000000000, 0, 0, 1  }};
 
-  //cam_info_msg.distortion_model = "plumb_bob";
-  //cam_info_msg.D = boost::assign::list_of(-0.0688388724945936)(0.0697453843669642)(0.00309518737071049)(-0.00570486993696543)(0);
+  cam_info_msg.distortion_model = "plumb_bob";
+  cam_info_msg.D = boost::assign::list_of(-0.0688388724945936)(0.0697453843669642)(0.00309518737071049)(-0.00570486993696543)(0);
 
   cam_info_msg.R = boost::array<double, 9>{{ 1, 0, 0, 0, 1, 0, 0, 0, 1 }};
 
@@ -194,8 +194,8 @@ inline sensor_msgs::CameraInfo createCameraInfoDEPTHQVGA()
   cam_info_msg.height = 240;
   cam_info_msg.K = boost::array<double, 9>{{ 525/2.0f, 0, 319.5000000/2.0f, 0, 525/2.0f, 239.5000000000000/2.0f, 0, 0, 1  }};
 
-  //cam_info_msg.distortion_model = "plumb_bob";
-  //cam_info_msg.D = boost::assign::list_of(-0.0688388724945936)(0.0697453843669642)(0.00309518737071049)(-0.00570486993696543)(0);
+  cam_info_msg.distortion_model = "plumb_bob";
+  cam_info_msg.D = boost::assign::list_of(-0.0688388724945936)(0.0697453843669642)(0.00309518737071049)(-0.00570486993696543)(0);
 
   cam_info_msg.R = boost::array<double, 9>{{ 1, 0, 0, 0, 1, 0, 0, 0, 1 }};
 
@@ -214,8 +214,8 @@ inline sensor_msgs::CameraInfo createCameraInfoDEPTHQQVGA()
   cam_info_msg.height = 120;
   cam_info_msg.K = boost::array<double, 9>{{ 525/4.0f, 0, 319.5000000/4.0f, 0, 525/4.0f, 239.5000000000000/4.0f, 0, 0, 1  }};
 
-  //cam_info_msg.distortion_model = "plumb_bob";
-  //cam_info_msg.D = boost::assign::list_of(-0.0688388724945936)(0.0697453843669642)(0.00309518737071049)(-0.00570486993696543)(0);
+  cam_info_msg.distortion_model = "plumb_bob";
+  cam_info_msg.D = boost::assign::list_of(-0.0688388724945936)(0.0697453843669642)(0.00309518737071049)(-0.00570486993696543)(0);
 
   cam_info_msg.R = boost::array<double, 9>{{ 1, 0, 0, 0, 1, 0, 0, 0, 1 }};