From e5ab1af2785c5518fa4410bf20514cb50aa3d694 Mon Sep 17 00:00:00 2001
From: Drew Hoelscher <142341376+dhoelscher-bdai@users.noreply.github.com>
Date: Wed, 6 Dec 2023 16:43:22 -0500
Subject: [PATCH] Fix distortion coefficient vector (#207)

---
 spot_driver_cpp/src/interfaces/spot_interface.cpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/spot_driver_cpp/src/interfaces/spot_interface.cpp b/spot_driver_cpp/src/interfaces/spot_interface.cpp
index e963a1215..9d5f95952 100644
--- a/spot_driver_cpp/src/interfaces/spot_interface.cpp
+++ b/spot_driver_cpp/src/interfaces/spot_interface.cpp
@@ -104,8 +104,8 @@ tl::expected<sensor_msgs::msg::CameraInfo, std::string> toCameraInfoMsg(
   info_msg.header.stamp = applyClockSkew(image_response.shot().acquisition_time(), clock_skew);
 
   // We assume that the camera images have already been corrected for distortion, so the 5 distortion parameters are all
-  // zero
-  info_msg.d = std::vector<double>{5, 0.0};
+  // zero.
+  info_msg.d = std::vector<double>{0.0, 0.0, 0.0, 0.0, 0.0};
 
   // Set the rectification matrix to identity, since this is not a stereo pair.
   info_msg.r[0] = 1.0;