From b5d4b802227e4a1d560885e30734f7c4f10fb6c5 Mon Sep 17 00:00:00 2001 From: Arne Peters Date: Thu, 25 Aug 2022 10:42:04 +0200 Subject: [PATCH] removed redundant calls --- src/k4a_ros_device.cpp | 4 +--- 1 file changed, 1 insertion(+), 3 deletions(-) diff --git a/src/k4a_ros_device.cpp b/src/k4a_ros_device.cpp index e41d46c1..a29d8219 100644 --- a/src/k4a_ros_device.cpp +++ b/src/k4a_ros_device.cpp @@ -729,8 +729,6 @@ k4a_result_t K4AROSDevice::fillColorPointCloud(const k4a::image& pointcloud_imag k4a_result_t K4AROSDevice::fillPointCloud(const k4a::image& pointcloud_image, sensor_msgs::PointCloud2Ptr& point_cloud) { - point_cloud->height = pointcloud_image.get_height_pixels(); - point_cloud->width = pointcloud_image.get_width_pixels(); point_cloud->is_dense = false; point_cloud->is_bigendian = false; @@ -745,7 +743,7 @@ k4a_result_t K4AROSDevice::fillPointCloud(const k4a::image& pointcloud_image, se pcd_modifier.resize(point_count); - // Restore actual dimensions as pcd_modifier.resize(n) sets the cloud size to n x 1 + // Set actual dimensions as pcd_modifier.resize(n) sets the cloud size to n x 1 point_cloud->height = pointcloud_image.get_height_pixels(); point_cloud->width = pointcloud_image.get_width_pixels(); point_cloud->row_step = pointcloud_image.get_width_pixels() * point_cloud->point_step;