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fix: adjust point cloud dimensions based on decimation factor in publishDepthPointCloud

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This commit is contained in:
ob-yalian
2026-01-14 16:15:15 +08:00
parent 1d5bdab7ae
commit 6f48a24222
1 changed files with 9 additions and 7 deletions
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orbbec_camera/src/ob_camera_node.cpp
+9 -7
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@@ -2684,14 +2684,14 @@ void OBCameraNode::publishDepthPointCloud(const std::shared_ptr<ob::FrameSet> &f
}
auto point_size = result_frame->dataSize() / sizeof(OBPoint);
auto *points = static_cast<OBPoint *>(result_frame->data());
auto width = depth_frame->width();
auto height = depth_frame->height();
auto width = depth_frame->width() / point_cloud_decimation_filter_factor_;
auto height = depth_frame->height() / point_cloud_decimation_filter_factor_;
auto point_cloud_msg = std::make_unique<sensor_msgs::msg::PointCloud2>();
sensor_msgs::PointCloud2Modifier modifier(*point_cloud_msg);
modifier.setPointCloud2FieldsByString(1, "xyz");
modifier.resize(width * height);
point_cloud_msg->width = depth_frame->width();
point_cloud_msg->height = depth_frame->height();
point_cloud_msg->width = width;
point_cloud_msg->height = height;
point_cloud_msg->row_step = point_cloud_msg->width * point_cloud_msg->point_step;
point_cloud_msg->data.resize(point_cloud_msg->height * point_cloud_msg->row_step);
sensor_msgs::PointCloud2Iterator<float> iter_x(*point_cloud_msg, "x");
@@ -2806,12 +2806,14 @@ void OBCameraNode::publishColoredPointCloud(const std::shared_ptr<ob::FrameSet>
}
auto point_size = result_frame->dataSize() / sizeof(OBColorPoint);
auto *point_cloud = static_cast<OBColorPoint *>(result_frame->data());
auto width = color_frame->getWidth() / point_cloud_decimation_filter_factor_;
auto height = color_frame->getHeight() / point_cloud_decimation_filter_factor_;
auto point_cloud_msg = std::make_unique<sensor_msgs::msg::PointCloud2>();
sensor_msgs::PointCloud2Modifier modifier(*point_cloud_msg);
modifier.setPointCloud2FieldsByString(1, "xyz");
point_cloud_msg->width = color_frame->getWidth();
point_cloud_msg->height = color_frame->getHeight();
modifier.resize(width * height);
point_cloud_msg->width = width;
point_cloud_msg->height = height;
std::string format_str = "rgb";
point_cloud_msg->point_step =
addPointField(*point_cloud_msg, format_str, 1, sensor_msgs::msg::PointField::FLOAT32,