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orbbec / ros_astra_camera

ROS wrapper for Astra camera
Apache License 2.0
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Camera intrinsic parameters should be updated on resolution change #103

Open illiu opened 4 years ago

illiu commented 4 years ago

Intrinsic parameters published to the /camera_info topic need to be updated based on the selected video mode, otherwise the point cloud projection from the depth_image_proc nodelet will be inaccurate.

illiu commented 4 years ago

Ahh I see the scaling factor in getDepthCameraInfo(), but the values set for K[2] and K[5] are incorrect. Going from 640x480 -> 320x240, we expect the K[2] and K[5] to be halved instead of a translation only

Opened PR#104