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Fix ordered PointCloud2 structure #1668

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Fix ordered PointCloud2 structure #1668

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27 changes: 23 additions & 4 deletions realsense2_camera/src/base_realsense_node.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -2240,8 +2240,18 @@ void BaseRealSenseNode::publishPointCloud(rs2::points pc, const rclcpp::Time& t,
throw std::runtime_error("Unhandled texture format passed in pointcloud " + std::to_string(texture_frame.get_profile().format()));
}
_msg_pointcloud.point_step = addPointField(_msg_pointcloud, format_str.c_str(), 1, sensor_msgs::msg::PointField::FLOAT32, _msg_pointcloud.point_step);
_msg_pointcloud.row_step = _msg_pointcloud.width * _msg_pointcloud.point_step;
_msg_pointcloud.data.resize(_msg_pointcloud.height * _msg_pointcloud.row_step);

if (_ordered_pc)
{
_msg_pointcloud.row_step = depth_intrin.width * _msg_pointcloud.point_step;
_msg_pointcloud.data.resize( depth_intrin.height * _msg_pointcloud.row_step);

}
else {
_msg_pointcloud.row_step = _msg_pointcloud.width * _msg_pointcloud.point_step;
_msg_pointcloud.data.resize(_msg_pointcloud.height * _msg_pointcloud.row_step);
}


sensor_msgs::PointCloud2Iterator<float>iter_x(_msg_pointcloud, "x");
sensor_msgs::PointCloud2Iterator<float>iter_y(_msg_pointcloud, "y");
Expand Down Expand Up @@ -2281,8 +2291,17 @@ void BaseRealSenseNode::publishPointCloud(rs2::points pc, const rclcpp::Time& t,
{
std::string format_str = "intensity";
_msg_pointcloud.point_step = addPointField(_msg_pointcloud, format_str.c_str(), 1, sensor_msgs::msg::PointField::FLOAT32, _msg_pointcloud.point_step);
_msg_pointcloud.row_step = _msg_pointcloud.width * _msg_pointcloud.point_step;
_msg_pointcloud.data.resize(_msg_pointcloud.height * _msg_pointcloud.row_step);

if (_ordered_pc)
{
_msg_pointcloud.row_step = depth_intrin.width * _msg_pointcloud.point_step;
_msg_pointcloud.data.resize( depth_intrin.height * _msg_pointcloud.row_step);

}
else {
_msg_pointcloud.row_step = _msg_pointcloud.width * _msg_pointcloud.point_step;
_msg_pointcloud.data.resize(_msg_pointcloud.height * _msg_pointcloud.row_step);
}

sensor_msgs::PointCloud2Iterator<float>iter_x(_msg_pointcloud, "x");
sensor_msgs::PointCloud2Iterator<float>iter_y(_msg_pointcloud, "y");
Expand Down