From 1241667c3358c90ba207fc388fb85b42bb8af5da Mon Sep 17 00:00:00 2001 From: Henri Rebecq Date: Mon, 17 Dec 2018 16:29:36 +0100 Subject: [PATCH] Add R and P in camera info messages --- .../esim_visualization/src/ros_utils.cpp | 7 ++++++- 1 file changed, 6 insertions(+), 1 deletion(-) diff --git a/event_camera_simulator/esim_visualization/src/ros_utils.cpp b/event_camera_simulator/esim_visualization/src/ros_utils.cpp index 5218b37..a0a7634 100644 --- a/event_camera_simulator/esim_visualization/src/ros_utils.cpp +++ b/event_camera_simulator/esim_visualization/src/ros_utils.cpp @@ -162,7 +162,12 @@ void cameraToMsg(const ze::Camera::Ptr& camera, Time t, sensor_msgs::CameraInfoP msg->K = K_vec; msg->D = D_vec; - // TODO: Add R and P + msg->P = {K(0,0), 0, K(0,2), 0, + 0, K(1,1), K(1,2), 0, + 0, 0, 1, 0}; + msg->R = {1, 0, 0, + 0, 1, 0, + 0, 0, 1}; }