fix write of rgba field in flatbuffers point cloud

agri-gaia · Oct 20, 2022 · c44fd92 · c44fd92
1 parent f077a9f
commit c44fd92
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Showing 2 changed files with 6 additions and 5 deletions.
diff --git a/examples/python/gRPC/pointcloud/gRPC_fb_sendPointCloud.py b/examples/python/gRPC/pointcloud/gRPC_fb_sendPointCloud.py
@@ -38,7 +38,7 @@
 
 def createPointCloud(builder, header, height=960, width=1280):
     '''Creates a flatbuffers point cloud message'''
-    pointFields = createPointFields(builder, ['x', 'y', 'z', 'rgb'], 7, 4, 1)
+    pointFields = createPointFields(builder, ['x', 'y', 'z', 'rgba'], 7, 4, 1)
     pointFieldsVector = addToPointFieldVector(builder, pointFields)
 
     # create general labels

diff --git a/seerep-hdf5/seerep-hdf5-fb/src/hdf5-fb-pointcloud.cpp b/seerep-hdf5/seerep-hdf5-fb/src/hdf5-fb-pointcloud.cpp
@@ -39,8 +39,8 @@ void Hdf5FbPointCloud::writePointCloud2(const std::string& id, const seerep::fb:
 
   if (info.has_rgb)
   {
-    writeColorsRGBA(id, getOffsets(cloud, std::vector<std::string>{ "r", "g", "b" }), cloud.data()->data(),
-                    cloud.point_step(), cloud.height(), cloud.width());
+    writeColorsRGB(id, getOffsets(cloud, std::vector<std::string>{ "r", "g", "b" }), cloud.data()->data(),
+                   cloud.point_step(), cloud.height(), cloud.width());
   }
 
   if (info.has_rgba)
@@ -283,8 +283,8 @@ Hdf5FbPointCloud::readPointCloud2(const std::string& id, const bool withoutData)
 
     if (info.has_rgba)
     {
-      readPoints(id, getOffsets(names, offsets, isBigendian, std::vector<std::string>{ "r", "g", "b", "a" }), data,
-                 pointStep, height, width);
+      readColorsRGBA(id, getOffsets(names, offsets, isBigendian, std::vector<std::string>{ "r", "g", "b", "a" }), data,
+                     pointStep, height, width);
     }
   }
 
@@ -697,6 +697,7 @@ uint32_t Hdf5FbPointCloud::rgbaOffset(const std::string& fieldName, uint32_t off
       return offset + 3;
     }
   }
+  throw std::runtime_error("Field " + fieldName + " does not exist!");
 }
 
 }  // namespace seerep_hdf5_fb