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leggedrobotics / raw_image_pipeline

Image processing pipeline for cameras that provide raw data
MIT License
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Fix color image publisher logic when undistortion is enabled #14

Closed mmattamala closed 9 months ago

mmattamala commented 9 months ago

This fixes the bug that published undistorted iamges in the color topic when undistortion was enabled. The correct behavior is that the /camera/color/image topic should have the distorted color-corrected image, while /camera/color_rect/image should have the undistorted one.

This makes the camera_info topics /camera/color/camera_info and /camera/color_rect/camera_info consistent now.