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which is clearly incorrect, as the camera center point $\left( c_{x}, c_{y} \right)$ are much different the nominal values of $\left( \frac{3840}{2}, \frac{2160}{2} \right)$.
However, when we request the camera parameters using the provided get_camera_params ROS service, the camera matrix (denoted by l_intr_p in the service response) the we get is as follows
When running the Femto Mega camera at the 3840x2160 resolution, the
CameraInfo
ROS message gets populated with the following intrinsic matrix:which is clearly incorrect, as the camera center point$\left( c_{x}, c_{y} \right)$ are much different the nominal values of $\left( \frac{3840}{2}, \frac{2160}{2} \right)$ .
However, when we request the camera parameters using the provided
get_camera_params
ROS service, the camera matrix (denoted byl_intr_p
in the service response) the we get is as followsThis leads us to believe that the base width and base height are incorrectly populated in the following code by the SDK
OrbbecSDK_ROS1/src/ros_setup.cpp
Lines 280 to 281 in 09325b1
which leads to the incorrect scaling factor in
OrbbecSDK_ROS1/src/utils.cpp
Lines 183 to 191 in 09325b1
The
CameraInfo
message is also incorrect for the registered depth image provided by the driver.The text was updated successfully, but these errors were encountered: