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fix bug for uninitialized cam model #69

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fix bug for uninitialized cam model #69

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3 changes: 2 additions & 1 deletion src/tracker_with_cloud_node.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -53,14 +53,15 @@ void TrackerWithCloudNode::syncCallback(const sensor_msgs::CameraInfo::ConstPtr&
pcl::PointCloud<pcl::PointXYZ>::Ptr downsampled_cloud(new pcl::PointCloud<pcl::PointXYZ>);
downsampled_cloud = downsampleCloudMsg(cloud_msg);

cam_model_.fromCameraInfo(camera_info_msg);

pcl::PointCloud<pcl::PointXYZ>::Ptr transformed_cloud;
transformed_cloud = cloud2TransformedCloud(downsampled_cloud, cloud_msg->header.frame_id, cam_model_.tfFrame(),
cloud_msg->header.stamp);
vision_msgs::Detection3DArray detections3d_msg;
sensor_msgs::PointCloud2 detection_cloud_msg;
visualization_msgs::MarkerArray marker_array_msg;

cam_model_.fromCameraInfo(camera_info_msg);
projectCloud(transformed_cloud, yolo_result_msg, cloud_msg->header, detections3d_msg, detection_cloud_msg);
marker_array_msg = createMarkerArray(detections3d_msg, callback_interval.toSec());

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