Fix depth img encoding

2021-12-03 14:06:26 +01:00
parent d8ea9683db
commit c0ae6e2333
3 changed files with 3 additions and 3 deletions
--- a/src/active_grasp/controller.py
+++ b/src/active_grasp/controller.py
@@ -112,7 +112,7 @@ class GraspController:
    def get_state(self):
        q, _ = self.arm.get_state()
        msg = copy.deepcopy(self.latest_depth_msg)
-        img = self.cv_bridge.imgmsg_to_cv2(msg).astype(np.float32)
+        img = self.cv_bridge.imgmsg_to_cv2(msg).astype(np.float32) * 0.001
        pose = tf.lookup(self.base_frame, self.cam_frame, msg.header.stamp)
        return img, pose, q