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Fix point publish bug in wrapper

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This commit is contained in:
Kalman 2018-10-25 20:28:27 +08:00
parent 48a9cd0461
commit 14988ffd24
1 changed files with 3 additions and 3 deletions
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wrappers/ros/src/mynt_eye_ros_wrapper/src/wrapper_nodelet.cc
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@ -473,9 +473,9 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
for (std::size_t x = 0; x < in.width; ++x) { for (std::size_t x = 0; x < in.width; ++x) {
auto &&point = data.frame.at<cv::Vec3f>(y, x); auto &&point = data.frame.at<cv::Vec3f>(y, x);
*iter_x = point[0]; *iter_x = point[0] * 0.001;
*iter_y = point[1]; *iter_y = point[1] * 0.001;
*iter_z = point[2]; *iter_z = point[2] * 0.001;
*iter_r = static_cast<uint8_t>(255); *iter_r = static_cast<uint8_t>(255);
*iter_g = static_cast<uint8_t>(255); *iter_g = static_cast<uint8_t>(255);