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Merge pull request #180 from HansRobo/fix/raw_step

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Set `row_step` after resizing point cloud
This commit is contained in:
obshenlanzhou
2026-03-27 16:36:30 +08:00
committed by GitHub
parent c0c14f538a d8d2a02707
commit 94fc83f2ac
1 changed files with 2 additions and 0 deletions
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orbbec_camera/src/ob_camera_node.cpp
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@@ -2774,6 +2774,7 @@ void OBCameraNode::publishDepthPointCloud(const std::shared_ptr<ob::FrameSet> &f
point_cloud_msg->width = valid_count;
point_cloud_msg->height = 1;
modifier.resize(valid_count);
point_cloud_msg->row_step = point_cloud_msg->width * point_cloud_msg->point_step;
}
auto frame_timestamp = getFrameTimestampUs(depth_frame);
auto timestamp = fromUsToROSTime(frame_timestamp);
@@ -2906,6 +2907,7 @@ void OBCameraNode::publishColoredPointCloud(const std::shared_ptr<ob::FrameSet>
point_cloud_msg->width = valid_count;
point_cloud_msg->height = 1;
modifier.resize(valid_count);
point_cloud_msg->row_step = point_cloud_msg->width * point_cloud_msg->point_step;
}
auto frame_timestamp = getFrameTimestampUs(depth_frame);
std::string frame_id = optical_frame_id_[COLOR];