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Update the point cloud y axis

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slz
2025-11-20 19:52:59 +08:00
parent 521fb201ac
commit b74d4d2392
1 changed files with 4 additions and 4 deletions
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orbbec_camera/src/ob_lidar_node.cpp
+4 -4
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@@ -778,7 +778,7 @@ void OBLidarNode::publishPointCloud(std::shared_ptr<ob::FrameSet> frame_set) {
for (size_t i = 0; i < point_count;
++i, ++iter_x, ++iter_y, ++iter_z, ++iter_intensity, ++iter_tag) {
*iter_x = static_cast<float>(point_data[i].x / 1000.0);
*iter_y = static_cast<float>(point_data[i].y / -1000.0);
*iter_y = static_cast<float>(point_data[i].y / 1000.0);
*iter_z = static_cast<float>(point_data[i].z / 1000.0);
*iter_intensity = point_data[i].intensity;
*iter_tag = point_data[i].tag;
@@ -822,7 +822,7 @@ void OBLidarNode::publishSpherePointCloud(std::shared_ptr<ob::FrameSet> frame_se
for (size_t i = 0; i < point_count;
++i, ++iter_x, ++iter_y, ++iter_z, ++iter_intensity, ++iter_tag) {
*iter_x = static_cast<float>(result_point[i].x / 1000.0);
*iter_y = static_cast<float>(result_point[i].y / -1000.0);
*iter_y = static_cast<float>(result_point[i].y / 1000.0);
*iter_z = static_cast<float>(result_point[i].z / 1000.0);
*iter_intensity = result_point[i].intensity;
*iter_tag = result_point[i].tag;
@@ -903,7 +903,7 @@ void OBLidarNode::publishMergedPointCloud() {
for (size_t i = 0; i < point_count;
++i, ++iter_x, ++iter_y, ++iter_z, ++iter_intensity, ++iter_tag, ++iter_offset_time) {
*iter_x = static_cast<float>(point_data[i].x / 1000.0);
*iter_y = static_cast<float>(point_data[i].y / -1000.0);
*iter_y = static_cast<float>(point_data[i].y / 1000.0);
*iter_z = static_cast<float>(point_data[i].z / 1000.0);
*iter_intensity = point_data[i].intensity;
*iter_tag = point_data[i].tag;
@@ -998,7 +998,7 @@ void OBLidarNode::publishMergedSpherePointCloud() {
for (size_t i = 0; i < point_count;
++i, ++iter_x, ++iter_y, ++iter_z, ++iter_intensity, ++iter_tag, ++iter_offset_time) {
*iter_x = static_cast<float>(result_point[i].x / 1000.0);
*iter_y = static_cast<float>(result_point[i].y / -1000.0);
*iter_y = static_cast<float>(result_point[i].y / 1000.0);
*iter_z = static_cast<float>(result_point[i].z / 1000.0);
*iter_intensity = result_point[i].intensity;
*iter_tag = result_point[i].tag;