From b14b95418fe54ffd1799936135d18daea73fa0cb Mon Sep 17 00:00:00 2001 From: fherrero <fherrero@iri.upc.edu> Date: Tue, 18 Jul 2023 13:15:15 +0200 Subject: [PATCH] Temp fix to fill info.P matrix for canopies field rosbags (frame=1) --- src/image_local_binarization_alg_node.cpp | 15 +++++++++++++++ 1 file changed, 15 insertions(+) diff --git a/src/image_local_binarization_alg_node.cpp b/src/image_local_binarization_alg_node.cpp index 40f4cd6..ba2db85 100644 --- a/src/image_local_binarization_alg_node.cpp +++ b/src/image_local_binarization_alg_node.cpp @@ -82,6 +82,21 @@ void ImageLocalBinarizationAlgNode::image_callback(const sensor_msgs::Image::Con my_img = this->image_->toImageMsg(); my_img->header.stamp = msg->header.stamp; this->cam_info.header.stamp = msg->header.stamp; + + //BEGIN + //TODO: temporary for canopies field rosbags + if(my_img->header.frame_id=="1") + { + my_img->header.frame_id="frame1"; + this->cam_info.header.frame_id= my_img->header.frame_id; + this->cam_info.P[0]=this->cam_info.K[0]; + this->cam_info.P[5]=this->cam_info.K[4]; + this->cam_info.P[2]=this->cam_info.K[2]; + this->cam_info.P[6]=this->cam_info.K[5]; + this->cam_info.P[10]=1; + } + //END + this->image_out_publisher_.publish(*my_img,this->cam_info, msg->header.stamp); } catch(cv_bridge::Exception& e) -- GitLab