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Chakio/melodic/feature implement improve get rgb point cloud in depth frame #4

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Chakio/melodic/feature implement improve get rgb point cloud in depth frame #4

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a07c17b
FEAT: colorize pos nan pcd
chakio Sep 2, 2020
b8a9fbe
FEAT: colorize pos nan pcd
chakio Sep 2, 2020
4d4bda9
FEAT: colorize pos nan pcd
chakio Sep 2, 2020
a23c4fd
FEAT: colorize pos nan pcd
chakio Sep 2, 2020
fdec69e
FEAT: colorize pos nan pcd
chakio Sep 2, 2020
0f0c448
FEAT: colorize pos nan pcd
chakio Sep 2, 2020
584286b
FEAT: colorize pos nan pcd
chakio Sep 2, 2020
e76cf5c
FEAT: colorize pos nan pcd
chakio Sep 2, 2020
a78d635
FEAT: colorize pos nan pcd
chakio Sep 2, 2020
259f451
Merge pull request #2 from chakio/chakio/melodic/feature_implement-no…
chakio Sep 3, 2020
93dcb29
Merge pull request #5 from chakio/chakio/melodic/devel
Shunmo17 Sep 3, 2020
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17 changes: 16 additions & 1 deletion src/k4a_ros_device.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -656,7 +656,22 @@ k4a_result_t K4AROSDevice::fillColorPointCloud(const k4a::image& pointcloud_imag
if (z <= 0.0f || a == 0)
{
*iter_x = *iter_y = *iter_z = std::numeric_limits<float>::quiet_NaN();
*iter_r = *iter_g = *iter_b = 0;
if (a == 0)
{
// ROS_WARN("a == 0");
*iter_r = color_buffer[4 * i + 2];
*iter_g = color_buffer[4 * i + 1];
*iter_b = color_buffer[4 * i + 0];
// printf("r=[%5f], g=[%2f], b=[%1f]",color_buffer[4 * i + 2], color_buffer[4 * i + 1], color_buffer[4 * i + 0]);
}
else
{
*iter_r = color_buffer[4 * i + 2];
*iter_g = color_buffer[4 * i + 1];
*iter_b = color_buffer[4 * i + 0];
// printf("r=[%5f], g=[%1f], b=[%1f]",color_buffer[4 * i + 2], color_buffer[4 * i + 1], color_buffer[4 * i + 0]);
}

}
else
{
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