Fix out of bounds indexes when retrieving camera matrix for rectified images (backport #47) #49
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… images (#47) * Fix out of bounds indexes when retrieving camera matrix for rectified images Co-authored-by: Sandip Das <[email protected]> * Add image_is_rectified parameter to example yaml config --------- Co-authored-by: Sandip Das <[email protected]> (cherry picked from commit 988501b)
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After merging #46 I noticed that the ROS2 port tries to fit 3x4 Projection matrix into 3x3 cv::Mat which results in out of bounds indexes. This did not raise an exception as OpenCv does array range checking only in Debug mode.
This PR makes the camera matrix retrieval for rectified images work the same as in ROS1 version after applying fix from @real-Sandip-Das
I also added
image_is_rectifiedparameter, which was missing for a long time, to the example yaml file.This is an automatic backport of pull request #47 done by Mergify.