From c3a186a7f190ad6e9f98cc5476afa1254c6a819e Mon Sep 17 00:00:00 2001 From: Joe Dong Date: Mon, 29 Apr 2024 10:28:58 +0800 Subject: [PATCH] update utils.cpp --- orbbec_camera/src/utils.cpp | 7 +++++-- 1 file changed, 5 insertions(+), 2 deletions(-) diff --git a/orbbec_camera/src/utils.cpp b/orbbec_camera/src/utils.cpp index b5a430c9..feb74f48 100644 --- a/orbbec_camera/src/utils.cpp +++ b/orbbec_camera/src/utils.cpp @@ -227,7 +227,7 @@ orbbec_camera_msgs::msg::Extrinsics obExtrinsicsToMsg(const OBD2CTransform &extr for (int i = 0; i < 9; ++i) { msg.rotation[i] = extrinsics.rot[i]; if (i < 3) { - msg.translation[i] = extrinsics.trans[i]; + msg.translation[i] = extrinsics.trans[i] / 1000.0; } } @@ -383,7 +383,10 @@ OB_DEPTH_PRECISION_LEVEL depthPrecisionLevelFromString( float depthPrecisionFromString(const std::string &depth_precision_level_str) { // covert 0.8mm to 0.8 - if (depth_precision_level_str.size() < 2) { + if (depth_precision_level_str.size() < 2) { + RCLCPP_WARN_STREAM(rclcpp::get_logger("utils"), + "Invalid depth precision level: " << depth_precision_level_str + << ". Using default precision level 1mm"); return 1.0; } std::string depth_precision_level_str_num =