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Add R and P in camera info messages

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This commit is contained in:
Henri Rebecq 2018-12-17 16:29:36 +01:00
parent 29d3cca0eb
commit 1241667c33
1 changed files with 6 additions and 1 deletions
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7
event_camera_simulator/esim_visualization/src/ros_utils.cpp
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@ -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};
}