Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

Fix frame_id in rgbd_camera #458

Merged
merged 2 commits into from
Aug 21, 2024
Merged

Fix frame_id in rgbd_camera #458

Changes from all commits
Commits
Show all changes
2 commits
Select commit Hold shift + click to select a range
b4154ff
Fix frame_id in rgbd_camera
fmrico Aug 20, 2024
7d4d98d
Fix style
fmrico Aug 21, 2024
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
19 changes: 10 additions & 9 deletions src/RgbdCameraSensor.cc
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -251,15 +251,6 @@ bool RgbdCameraSensor::Load(const sdf::Sensor &_sdf)
if (!this->AdvertiseInfo(this->Topic() + "/camera_info"))
return false;

// Initialize the point message.
// \todo(anyone) The true value in the following function call forces
// the xyz and rgb fields to be aligned to memory boundaries. This is need
// by ROS1: https://github.com/ros/common_msgs/pull/77. Ideally, memory
// alignment should be configured.
msgs::InitPointCloudPacked(this->dataPtr->pointMsg, this->FrameId(), true,
{{"xyz", msgs::PointCloudPacked::Field::FLOAT32},
{"rgb", msgs::PointCloudPacked::Field::FLOAT32}});

if (this->Scene())
{
this->CreateCameras();
Expand Down Expand Up @@ -390,6 +381,16 @@ bool RgbdCameraSensor::CreateCameras()
std::placeholders::_1, std::placeholders::_2, std::placeholders::_3,
std::placeholders::_4, std::placeholders::_5));

// Initialize the point message.
// \todo(anyone) The true value in the following function call forces
// the xyz and rgb fields to be aligned to memory boundaries. This is need
// by ROS1: https://github.com/ros/common_msgs/pull/77. Ideally, memory
// alignment should be configured.
msgs::InitPointCloudPacked(this->dataPtr->pointMsg, this->OpticalFrameId(),
true,
{{"xyz", msgs::PointCloudPacked::Field::FLOAT32},
{"rgb", msgs::PointCloudPacked::Field::FLOAT32}});

// Set the values of the point message based on the camera information.
this->dataPtr->pointMsg.set_width(this->ImageWidth());
this->dataPtr->pointMsg.set_height(this->ImageHeight());
Expand Down