Fill R and P by default; some ROS nodes look at these (luxonis#72)

Project-DAIR · Feb 22, 2022 · 02079b6 · 02079b6
1 parent 0b22e1d
commit 02079b6
Showing 1 changed file with 5 additions and 1 deletion.
diff --git a/depthai_bridge/src/ImageConverter.cpp b/depthai_bridge/src/ImageConverter.cpp
@@ -294,7 +294,11 @@ ImageMsgs::CameraInfo ImageConverter::calibrationToCameraInfo(
     auto& projection = cameraData.P;
     auto& rotation = cameraData.R;
 #endif
-
+    // Set rotation to reasonable default even for non-stereo pairs
+    rotation[0] = rotation[4] = rotation[8] = 1;
+    for(size_t i = 0; i < 3; i++) {
+        std::copy(flatIntrinsics.begin() + i * 3, flatIntrinsics.begin() + (i + 1) * 3, projection.begin() + i * 4);
+    }
     std::copy(flatIntrinsics.begin(), flatIntrinsics.end(), intrinsics.begin());
 
     distCoeffs = calibHandler.getDistortionCoefficients(cameraId);