i/OrbbecSDK_ROS2
1
0
Fork 0
mirror of https://github.com/orbbec/OrbbecSDK_ROS2.git synced 2026-10-07 21:37:46 +08:00
Code Issues Packages Projects Releases Wiki Activity

fix depth point cloud image

Browse Source
This commit is contained in:
jj
2024-09-29 18:50:07 +08:00
parent ae013a3b8a
commit f6f21b3fbe
2 changed files with 1 additions and 2 deletions
Download Patch File Download Diff File Expand all files Collapse all files
orbbec_camera/src/ob_camera_node.cpp
+1 -1
View File
@@ -1444,7 +1444,7 @@ void OBCameraNode::publishDepthPointCloud(const std::shared_ptr<ob::FrameSet> &f
bool valid_point = points[i].z >= min_depth && points[i].z <= max_depth;
if (valid_point || ordered_pc_) {
*iter_x = static_cast<float>(points[i].x / 1000.0);
*iter_y = static_cast<float>(points[i].y / 1000.0);
*iter_y = -static_cast<float>(points[i].y / 1000.0);
*iter_z = static_cast<float>(points[i].z / 1000.0);
++iter_x, ++iter_y, ++iter_z;
valid_count++;