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Foxy - Fix ordered pointcloud2 format #1677

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Merged
merged 1 commit into from
Feb 8, 2021
Merged

Foxy - Fix ordered pointcloud2 format #1677

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17 changes: 10 additions & 7 deletions realsense2_camera/src/base_realsense_node.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -1734,6 +1734,7 @@ void BaseRealSenseNode::frame_callback(rs2::frame frame)

if (f.is<rs2::points>())
{
ROS_WARN_STREAM("_pointcloud_publisher->get_subscription_count(): " << _pointcloud_publisher->get_subscription_count());
if (0 != _pointcloud_publisher->get_subscription_count())
{
ROS_DEBUG("Publish pointscloud");
Expand Down Expand Up @@ -2244,6 +2245,12 @@ void BaseRealSenseNode::publishPointCloud(rs2::points pc, const rclcpp::Time& t,
sensor_msgs::PointCloud2Modifier modifier(_msg_pointcloud);
modifier.setPointCloud2FieldsByString(1, "xyz");
modifier.resize(pc.size());
if (_ordered_pc)
{
_msg_pointcloud.width = depth_intrin.width;
_msg_pointcloud.height = depth_intrin.height;
_msg_pointcloud.is_dense = false;
}

vertex = pc.get_vertices();
size_t valid_count(0);
Expand Down Expand Up @@ -2331,13 +2338,7 @@ void BaseRealSenseNode::publishPointCloud(rs2::points pc, const rclcpp::Time& t,
}
_msg_pointcloud.header.stamp = t;
_msg_pointcloud.header.frame_id = _optical_frame_id[DEPTH];
if (_ordered_pc)
{
_msg_pointcloud.width = depth_intrin.width;
_msg_pointcloud.height = depth_intrin.height;
_msg_pointcloud.is_dense = false;
}
else
if (!_ordered_pc)
{
_msg_pointcloud.width = valid_count;
_msg_pointcloud.height = 1;
Expand Down Expand Up @@ -2438,6 +2439,8 @@ void BaseRealSenseNode::publishFrame(rs2::frame f, const rclcpp::Time& t,
++(seq[stream]);
auto& info_publisher = info_publishers.at(stream);
auto& image_publisher = image_publishers.at(stream);
ROS_WARN_STREAM("info_publisher->get_subscription_count(): " << info_publisher->get_subscription_count());

if(0 != info_publisher->get_subscription_count() ||
0 != image_publisher.getNumSubscribers())
{
Expand Down