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Point cloud unit conversion in wrappers/ros/src/mynt_eye_ros_wrapper/src/wrapper_nodelet.cc

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This commit is contained in:
junyang 2018-07-11 02:14:04 +08:00
parent c2f04c487e
commit 9014f3df57
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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@ -418,9 +418,9 @@ 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);