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update utils.cpp

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This commit is contained in:
Joe Dong
2024-04-29 10:28:58 +08:00
parent 99f56eaaca
commit c3a186a7f1
1 changed files with 5 additions and 2 deletions
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orbbec_camera/src/utils.cpp
+5 -2
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@@ -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 =