From 9014f3df57eb48a1faf01507eccf7586b58f54c1 Mon Sep 17 00:00:00 2001
From: junyang <junyangqu@slightech.com>
Date: Wed, 11 Jul 2018 02:14:04 +0800
Subject: [PATCH] Point cloud unit conversion in
 wrappers/ros/src/mynt_eye_ros_wrapper/src/wrapper_nodelet.cc

---
 .../ros/src/mynt_eye_ros_wrapper/src/wrapper_nodelet.cc     | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/wrappers/ros/src/mynt_eye_ros_wrapper/src/wrapper_nodelet.cc b/wrappers/ros/src/mynt_eye_ros_wrapper/src/wrapper_nodelet.cc
index 5e7d153..86d1ad7 100644
--- a/wrappers/ros/src/mynt_eye_ros_wrapper/src/wrapper_nodelet.cc
+++ b/wrappers/ros/src/mynt_eye_ros_wrapper/src/wrapper_nodelet.cc
@@ -418,9 +418,9 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
       for (std::size_t x = 0; x < in.width; ++x) {
         auto &&point = data.frame.at<cv::Vec3f>(y, x);
 
-        *iter_x = point[0];
-        *iter_y = point[1];
-        *iter_z = point[2];
+        *iter_x = point[0] * 0.001;
+        *iter_y = point[1] * 0.001;
+        *iter_z = point[2] * 0.001;
 
         *iter_r = static_cast<uint8_t>(255);
         *iter_g = static_cast<uint8_t>(255);