Merge pull request #229 from christian-rauch/fix_intrinsic_frame_id

set intrinsic frame id when using custom calibration

Author: ooeygui

src/k4a_ros_device.cpp

@@ -982,6 +982,8 @@ void K4AROSDevice::framePublisherThread()
   if (ci_mngr_rgb_->isCalibrated())
   {
     rgb_raw_camera_info = depth_rect_camera_info = ci_mngr_rgb_->getCameraInfo();
+    rgb_raw_camera_info.header.frame_id = depth_rect_camera_info.header.frame_id = \
+        calibration_data_.tf_prefix_ + calibration_data_.rgb_camera_frame_;
   }
   else
   {
@@ -992,6 +994,8 @@ void K4AROSDevice::framePublisherThread()
   if (ci_mngr_ir_->isCalibrated())
   {
     depth_raw_camera_info = rgb_rect_camera_info = ir_raw_camera_info = ci_mngr_ir_->getCameraInfo();
+    depth_raw_camera_info.header.frame_id = rgb_rect_camera_info.header.frame_id = ir_raw_camera_info.header.frame_id = \
+        calibration_data_.tf_prefix_ + calibration_data_.depth_camera_frame_;
   }
   else
   {