Sample camera caliberation files for both ardrone cameras added.

data/camera_info/ardrone_bottom.yaml

@@ -0,0 +1,20 @@
+image_width: 640
+image_height: 360
+camera_name: ardrone_bottom
+camera_matrix:
+  rows: 3
+  cols: 3
+  data: [700.490828918144, 0, 319.508832099787, 0, 701.654116650887, 218.740253550967, 0, 0, 1]
+distortion_model: plumb_bob
+distortion_coefficients:
+  rows: 1
+  cols: 5
+  data: [0.0182389759532889, 0.0520276742502367, 0.00651075732801101, 0.000183496184521575, 0]
+rectification_matrix:
+  rows: 3
+  cols: 3
+  data: [1, 0, 0, 0, 1, 0, 0, 0, 1]
+projection_matrix:
+  rows: 3
+  cols: 4
+  data: [706.46533203125, 0, 319.100033140348, 0, 0, 704.728332519531, 219.675699140967, 0, 0, 0, 1, 0]

data/camera_info/ardrone_front.yaml

@@ -0,0 +1,20 @@
+image_width: 640
+image_height: 360
+camera_name: ardrone_front
+camera_matrix:
+  rows: 3
+  cols: 3
+  data: [579.240069945377, 0, 354.230835236354, 0, 579.993618722252, 184.763266762973, 0, 0, 1]
+distortion_model: plumb_bob
+distortion_coefficients:
+  rows: 1
+  cols: 5
+  data: [-0.536674576469086, 0.346137126718872, -0.000991434932131921, -0.00440001219655534, 0]
+rectification_matrix:
+  rows: 3
+  cols: 3
+  data: [1, 0, 0, 0, 1, 0, 0, 0, 1]
+projection_matrix:
+  rows: 3
+  cols: 4
+  data: [481.502777099609, 0, 359.931248175299, 0, 0, 546.485534667969, 184.597616094456, 0, 0, 0, 1, 0]

src/ardrone_driver.cpp

@@ -113,9 +113,6 @@ void ARDroneDriver::publish_video()
             (vert_pub.getNumSubscribers() == 0)
        ) return;
 
-
-
-
     // Camera Info (NO PIP)
 
     sensor_msgs::CameraInfo cinfo_msg_hori = cinfo_hori_->getCameraInfo();