Focal length + principal point value fix

RIVeR-Lab / apriltags_ros

AprilTags for ROS

http://wiki.ros.org/apriltags_ros

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Focal length + principal point value fix #12

Closed brentyi closed 8 years ago

brentyi commented 8 years ago

Fixes a bug discovered by @jpapon in #11 where the node uses incorrect optical measurements for calculating tag transformations. For backwards compatibility, I've implemented it such that the fix needs to be manually enabled via a projected_optics parameter.

@velinddimitrov thoughts?

velinddimitrov commented 8 years ago

Looks good to me. I merged it in.