Use SensorCamera API for projection matrix

src/publisher_vision.cpp

@@ -511,14 +511,7 @@ Eigen::Matrix4d PublisherVisionDebug::getTcwMatrix(const CaptureBasePtr _capture
 
 Eigen::Matrix<double, 3, 4> PublisherVisionDebug::getProjectionMatrix(const CaptureBasePtr _capture) const
 {
-    auto k(_capture->getSensor()->getIntrinsic()->getState()); // intrinsic vector of camera k = [u0 v0 au av]
-    Eigen::Matrix<double, 3, 4> P;
-
-    P <<    k(2), 0   , k(0), 0, //
-            0   , k(3), k(1), 0, //
-            0   , 0   , 1   , 0; //
-
-    return P;
+    return (std::static_pointer_cast<SensorCamera>(_capture->getSensor()))->getProjectionMatrix();
 }
 
 LandmarkBasePtr PublisherVisionDebug::getAssociatedLandmark(const TrackMatrix& _track_matrix, const FeatureBasePtr& _ftr)