sensor_msgs::CameraInfoPtr AstraDriver::getIRCameraInfo(int width, int height, ros::Time time) const
{
sensor_msgs::CameraInfoPtr info;
if (ir_info_manager_->isCalibrated())
{
info = boost::make_shared<sensor_msgs::CameraInfo>(ir_info_manager_->getCameraInfo());
if ( info->width != width )
{
// Use uncalibrated values
ROS_WARN_ONCE("Image resolution doesn't match calibration of the IR camera. Using default parameters.");
info = getDefaultCameraInfo(width, height, device_->getIRFocalLength(height));
}
}
else
{
// If uncalibrated, fill in default values
info = getDefaultCameraInfo(width, height, device_->getDepthFocalLength(height));
}
// Fill in header
info->header.stamp = time;
info->header.frame_id = depth_frame_id_;
return info;
}
sensor_msgs::CameraInfoPtr DriverNodelet::getIrCameraInfo(
const ImageBuffer& image, ros::Time time) const {
sensor_msgs::CameraInfoPtr info;
if (ir_info_manager_->isCalibrated())
{
info = boost::make_shared<sensor_msgs::CameraInfo>(ir_info_manager_->getCameraInfo());
}
else
{
// If uncalibrated, fill in default values
info = getDefaultCameraInfo(image.metadata.width, image.metadata.height, image.focal_length);
}
// Fill in header
info->header.stamp = time;
info->header.frame_id = depth_frame_id_;
return info;
}
