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fixed point cloud inv

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This commit is contained in:
Joe Dong
2023-09-05 18:08:18 +08:00
parent 7e81252644
commit 1bc7f971d1
1 changed files with 2 additions and 2 deletions
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orbbec_camera/src/ob_camera_node.cpp
+2 -2
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@@ -570,7 +570,7 @@ void OBCameraNode::publishDepthPointCloud(const std::shared_ptr<ob::FrameSet> &f
bool valid_pixel(points->z > 0);
if (valid_pixel) {
*iter_x = static_cast<float>((points->x * scale) / 1000.0);
*iter_y = -static_cast<float>((points->y * scale) / 1000.0);
*iter_y = static_cast<float>((points->y * scale) / 1000.0);
*iter_z = static_cast<float>((points->z * scale) / 1000.0);
++iter_x;
++iter_y;
@@ -653,7 +653,7 @@ void OBCameraNode::publishColoredPointCloud(const std::shared_ptr<ob::FrameSet>
bool valid_pixel((points + point_idx)->z > 0);
if (valid_pixel) {
*iter_x = static_cast<float>(((points + point_idx)->x * scale) / 1000.0);
*iter_y = -static_cast<float>(((points + point_idx)->y * scale) / 1000.0);
*iter_y = static_cast<float>(((points + point_idx)->y * scale) / 1000.0);
*iter_z = static_cast<float>(((points + point_idx)->z * scale) / 1000.0);
*iter_r = static_cast<uint8_t>((points + point_idx)->r);
*iter_g = static_cast<uint8_t>((points + point_idx)->g);