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fix: update intensity to reflectivity in lidar point cloud publishing

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ob-yalian
2025-12-08 15:48:56 +08:00
parent 266b80ff0f
commit e2d8f7664d
1 changed files with 5 additions and 5 deletions
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orbbec_camera/src/ob_lidar_node.cpp
+5 -5
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@@ -789,7 +789,7 @@ void OBLidarNode::publishPointCloud(std::shared_ptr<ob::FrameSet> frame_set) {
*iter_x = static_cast<float>(point_data[i].x / 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_intensity = point_data[i].reflectivity;
*iter_tag = point_data[i].tag;
}
*point_cloud_msg = filterPointCloud(*point_cloud_msg);
@@ -833,7 +833,7 @@ void OBLidarNode::publishSpherePointCloud(std::shared_ptr<ob::FrameSet> frame_se
*iter_x = static_cast<float>(result_point[i].x / 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_intensity = result_point[i].reflectivity;
*iter_tag = result_point[i].tag;
}
*point_cloud_msg = filterPointCloud(*point_cloud_msg);
@@ -914,7 +914,7 @@ void OBLidarNode::publishMergedPointCloud() {
*iter_x = static_cast<float>(point_data[i].x / 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_intensity = point_data[i].reflectivity;
*iter_tag = point_data[i].tag;
// Calculate per-point offset time in nanoseconds relative to point cloud header timestamp
@@ -1009,7 +1009,7 @@ void OBLidarNode::publishMergedSpherePointCloud() {
*iter_x = static_cast<float>(result_point[i].x / 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_intensity = result_point[i].reflectivity;
*iter_tag = result_point[i].tag;
// Calculate per-point offset time in nanoseconds relative to point cloud header timestamp
@@ -1057,7 +1057,7 @@ std::vector<OBLiDARPoint> OBLidarNode::spherePointToPoint(OBLiDARSpherePoint *sp
point_data->x = x;
point_data->y = y;
point_data->z = z;
point_data->intensity = sphere_point->intensity;
point_data->reflectivity = sphere_point->reflectivity;
point_data->tag = sphere_point->tag;
++point_data;
}