fixed wrong point clound size info

Author: exo-core

src/k4a_ros_device.cpp

@@ -692,6 +692,10 @@ k4a_result_t K4AROSDevice::fillColorPointCloud(const k4a::image& pointcloud_imag
 
   pcd_modifier.resize(point_count);
 
+  // Restore 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();
+
   const int16_t* point_cloud_buffer = reinterpret_cast<const int16_t*>(pointcloud_image.get_buffer());
   const uint8_t* color_buffer = color_image.get_buffer();
 
@@ -740,6 +744,10 @@ 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
+  point_cloud->height = pointcloud_image.get_height_pixels();
+  point_cloud->width = pointcloud_image.get_width_pixels();
+
   const int16_t* point_cloud_buffer = reinterpret_cast<const int16_t*>(pointcloud_image.get_buffer());
 
   for (size_t i = 0; i < point_count; i++, ++iter_x, ++iter_y, ++iter_z)