Add frame information to camera_info

anqixu / ueye_cam

A ROS nodelet and node that wraps the driver API for UEye cameras by IDS Imaging Development Systems GMBH.

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Add frame information to camera_info #125

Closed andrewbest-tri closed 2 years ago

andrewbest-tri commented 2 years ago

Frame_id was never published because of the use of camera_info for the source values

andrewbest-tri commented 2 years ago

In the code, the frame ID for the image is set by

img_msg_ptr->header.frame_id = cam_info_msg_ptr->header.frame_id;

however the frame_id for camera info was omitted in reflectParameters This adds the frame_id which fixes the missing data in camera info and the image frame itself

jmackay2 commented 2 years ago

It seems like this should be happening in setCamInfo. Do you know why setCamInfo isn't setting it correctly?

andrewbest-tri commented 2 years ago

I'm not super familiar with this part of ros2 but SetCamInfo is a callback, I'm not sure there's any reason to believe it's ever called. https://github.com/anqixu/ueye_cam/blob/be4a4b77d9a433ef221587849018135ee3e5a86f/src/ros/node.cpp#L292