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Improved pointcloud data copy for SDK major than v2.5 #302

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Merged
adujardin merged 2 commits into from
Oct 1, 2018
Merged

Improved pointcloud data copy for SDK major than v2.5 #302

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0b98255
Improved pointcloud data copying
Myzhar Oct 1, 2018
5f2faef
Added version check for SDK minor than v2.5
Myzhar Oct 1, 2018
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Improved pointcloud data copying
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@Myzhar
Myzhar committed Oct 1, 2018
commit 0b98255d632b1021e9ccc97c0e85e8bfc0c03ceb
11 changes: 3 additions & 8 deletions zed_wrapper/src/nodelet/src/zed_wrapper_nodelet.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -1053,18 +1053,13 @@ namespace zed_wrapper {
"rgb", 1, sensor_msgs::PointField::FLOAT32);
}

sl::Vector4<float>* cpu_cloud = mCloud.getPtr<sl::float4>();


// Data copy
sl::Vector4<float>* cpu_cloud = mCloud.getPtr<sl::float4>();
float* ptCloudPtr = (float*)(&mPointcloudMsg.data[0]);

#pragma omp parallel for
for (size_t i = 0; i < ptsCount; ++i) {
ptCloudPtr[i * 4 + 0] = mSignX * cpu_cloud[i][mIdxX];
ptCloudPtr[i * 4 + 1] = mSignY * cpu_cloud[i][mIdxY];
ptCloudPtr[i * 4 + 2] = mSignZ * cpu_cloud[i][mIdxZ];
ptCloudPtr[i * 4 + 3] = cpu_cloud[i][3];
}
memcpy(ptCloudPtr, (float*)cpu_cloud, 4 * ptsCount * sizeof(float));

// Pointcloud publishing
mPubCloud.publish(mPointcloudMsg);
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