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jsk-ros-pkg / jsk_visualization

jsk visualization ros packages
https://github.com/jsk-ros-pkg/jsk_visualization
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[jsk_rviz_plugins] Fixed Camera Info visualization #851

Closed iory closed 2 years ago

iory commented 2 years ago

What is this?

CameraInfo plugin in jsk_rviz_plugins is not visualizing camera info correctly when roi and binning are set. Following video shows the result of decimated CameraInfo in https://github.com/jsk-ros-pkg/jsk_recognition/pull/2713 Command is roslaunch jsk_perception sample_robot_to_mask_image.launch gui:=true decimate:=true

https://user-images.githubusercontent.com/4690682/179243344-3da8f2fd-9757-47d9-8572-e65c5020ae0a.mp4

This PR properly visualizes CameraInfo as shown in the following video by properly calculating roi and binning.

https://user-images.githubusercontent.com/4690682/179243701-a8f4ccac-04d7-4ee3-8467-4ef90082010b.mp4

nakane11 commented 2 years ago

I was misunderstanding. 1/256.0 is correct.

iory commented 2 years ago

Thanks for your review! Much better than the first PR I sent.