Due to my image stream's resolution not being a multiple of 16 I am attempting to use image_proc/crop_decimate to resize it. When using the image_proc/crop_decimate nodelet, the camera stream is republished at the request resolution. However in order to not spoil calibration the calibration and resolution from the original stream's camera_info are published with an additional ROI property that has an width and height and an x and y offset.
My camera natively streams 640x360 so I set up image_proc/crop_decimate to crop is down to 640x352. However due to the fact that lsd_slam_core naively uses the width and height and doesn't look for any ROI information in the camera_info it is still not starting and giving me an error about not being a multiple of 16.
As I stated the actual camera stream itself is in fact 640x352, its just the camera_info that is reporting the old size for calibration issues, I believe that is expected behavior on image_proc's part.
Due to my image stream's resolution not being a multiple of 16 I am attempting to use image_proc/crop_decimate to resize it. When using the image_proc/crop_decimate nodelet, the camera stream is republished at the request resolution. However in order to not spoil calibration the calibration and resolution from the original stream's camera_info are published with an additional ROI property that has an width and height and an x and y offset.
My camera natively streams 640x360 so I set up image_proc/crop_decimate to crop is down to 640x352. However due to the fact that lsd_slam_core naively uses the width and height and doesn't look for any ROI information in the camera_info it is still not starting and giving me an error about not being a multiple of 16.
As I stated the actual camera stream itself is in fact 640x352, its just the camera_info that is reporting the old size for calibration issues, I believe that is expected behavior on image_proc's part.