message: camera info conversion: Handling distortion with more than 8 coefficients
diff: @@ -803,6 +803,25 @@ rtabmap::CameraModel cameraModelFromROS(
  D.at<double>(0,4) = camInfo.D[2];
  D.at<double>(0,5) = camInfo.D[3];
  }
  + else if(camInfo.D.size()>8)
  + {
  + bool zerosAfter8 = true;
  + for(size_t i=8; i<camInfo.D.size() && zerosAfter8; ++i)
  + {
  + if(camInfo.D[i] != 0.0)
  + {
  + zerosAfter8 = false;
  + }
  + }
  + static bool warned = false;
  + if(!zerosAfter8 && !warned)
  + {
  + ROS_WARN("Camera info conversion: Distortion model is larger than 8, coefficients after 8 are ignored. This message is only shown once.");
  + warned = true;
  + }
  + D = cv::Mat(1, 8, CV_64FC1);
  + memcpy(D.data, camInfo.D.data(), D.cols*sizeof(double));
  + }
  else
  {
  D = cv::Mat(1, camInfo.D.size(), CV_64FC1);
  