From 8883457c2245d52484a848e67fc5d1e92cb5961c Mon Sep 17 00:00:00 2001 From: Myzhar Date: Thu, 16 Aug 2018 09:20:33 +0200 Subject: [PATCH] Fixes issue https://github.com/stereolabs/zed-ros-wrapper/issues/251 --- zed_wrapper/src/nodelet/src/zed_wrapper_nodelet.cpp | 7 ++++++- 1 file changed, 6 insertions(+), 1 deletion(-) diff --git a/zed_wrapper/src/nodelet/src/zed_wrapper_nodelet.cpp b/zed_wrapper/src/nodelet/src/zed_wrapper_nodelet.cpp index 9b8af78f..7afdbe1b 100644 --- a/zed_wrapper/src/nodelet/src/zed_wrapper_nodelet.cpp +++ b/zed_wrapper/src/nodelet/src/zed_wrapper_nodelet.cpp @@ -923,8 +923,10 @@ namespace zed_wrapper { // https://github.com/ros/common_msgs/blob/jade-devel/sensor_msgs/include/sensor_msgs/point_cloud2_iterator.h int ptsCount = matWidth * matHeight; mPointcloudMsg.header.stamp = pointCloudTime; + if (mPointcloudMsg.width != matWidth || mPointcloudMsg.height != matHeight) { - mPointcloudMsg.header.frame_id = pointCloudFrameId; // Set the header values of the ROS message + mPointcloudMsg.header.frame_id = pointCloudFrameId; // Set the header values of the ROS message + mPointcloudMsg.is_bigendian = false; mPointcloudMsg.is_dense = false; @@ -936,6 +938,9 @@ namespace zed_wrapper { "rgb", 1, sensor_msgs::PointField::FLOAT32); modifier.resize(ptsCount); + + mPointcloudMsg.width = matWidth; + mPointcloudMsg.height = matHeight; } sl::Vector4* cpu_cloud = cloud.getPtr();