fix #323 pointcloud size

rpng · Apr 15, 2023 · 70b0ae3 · 70b0ae3
1 parent 5d9fbee
commit 70b0ae3
Showing 1 changed file with 4 additions and 4 deletions.
diff --git a/ov_msckf/src/ros/ROSVisualizerHelper.cpp b/ov_msckf/src/ros/ROSVisualizerHelper.cpp
@@ -38,15 +38,15 @@ sensor_msgs::PointCloud2 ROSVisualizerHelper::get_ros_pointcloud(const std::vect
   sensor_msgs::PointCloud2 cloud;
   cloud.header.frame_id = "global";
   cloud.header.stamp = ros::Time::now();
-  cloud.width = 3 * feats.size();
+  cloud.width = feats.size();
   cloud.height = 1;
   cloud.is_bigendian = false;
   cloud.is_dense = false; // there may be invalid points
 
   // Setup pointcloud fields
   sensor_msgs::PointCloud2Modifier modifier(cloud);
   modifier.setPointCloud2FieldsByString(1, "xyz");
-  modifier.resize(3 * feats.size());
+  modifier.resize(feats.size());
 
   // Iterators
   sensor_msgs::PointCloud2Iterator<float> out_x(cloud, "x");
@@ -96,15 +96,15 @@ sensor_msgs::msg::PointCloud2 ROSVisualizerHelper::get_ros_pointcloud(std::share
   sensor_msgs::msg::PointCloud2 cloud;
   cloud.header.frame_id = "global";
   cloud.header.stamp = node->now();
-  cloud.width = 3 * feats.size();
+  cloud.width = feats.size();
   cloud.height = 1;
   cloud.is_bigendian = false;
   cloud.is_dense = false; // there may be invalid points
 
   // Setup pointcloud fields
   sensor_msgs::PointCloud2Modifier modifier(cloud);
   modifier.setPointCloud2FieldsByString(1, "xyz");
-  modifier.resize(3 * feats.size());
+  modifier.resize(feats.size());
 
   // Iterators
   sensor_msgs::PointCloud2Iterator<float> out_x(cloud, "x");