This PR resolves #10, adding ~rescale_camera_info parameter.
While coding I met 3 issues, so I'm not sure the approach I used is correct:
The info_manager_.getCameraInfo() is called on every camera frame, and (using ~set_camera_info service) the camera info can change at any moment. So if there is resolution mismatch, the calibration is recalculated all the time.
If the user calls ~set_camera_info twice, the warning message would not appear second time, as I used ROS_WARN_ONCE.
OTL
commented
6 years ago
This PR resolves #10, adding
~rescale_camera_infoparameter.While coding I met 3 issues, so I'm not sure the approach I used is correct:
info_manager_.getCameraInfo()is called on every camera frame, and (using~set_camera_infoservice) the camera info can change at any moment. So if there is resolution mismatch, the calibration is recalculated all the time.~set_camera_infotwice, the warning message would not appear second time, as I usedROS_WARN_ONCE.SetCameraInfodocumentation says:So I don't know, if the camera node intended to rescale camera info parameters by the ROS authors' idea.