Sample code illustrating how to develop ROS applications using the Intel® RealSense™ ZR300 camera for Object Library (OR), Person Library (PT), and Simultaneous Localization And Mapping (SLAM).
Apache License 2.0
127
stars
92
forks
source link
Why the same extrinsics are assigned for color and depth streams while creating actual_image_stream_config? #20
Why the same extrinsics are assigned for color and depth streams while creating rs::core::video_module_interface::actual_image_stream_config. I expect identity rotation and zero translation for depth stream because these extrinsics are w.r.t depth frame.
Why the same extrinsics are assigned for color and depth streams while creating
rs::core::video_module_interface::actual_image_stream_config. I expect identity rotation and zero translation for depth stream because these extrinsics are w.r.t depth frame.Ros2RealSenseSdkConverter::CreateSdkModuleConfig, line 118