message: bindings: ros: Fix the depth data processing needed to obtain the z coordinate
  In order to obtain the z coordinate, we need to perform computations on the depth value
diff: @@ -81,8 +81,16 @@ void PointCloud2Msg::setDataMembers(const std::shared_ptr<Camera> &camera,
  int index = i * msg.width + j;
  uint16_t depth = frameData[index];
  + //angle between camera's principal axis and the pixel that is being processed
  + double tanXAngle = (x0 - j) / fx;
  + double tanYAngle = (y0 - i) / fy;
  +
  + double depth_scale =
  + sqrt(1 + tanXAngle * tanXAngle + tanYAngle * tanYAngle);
  + float z = static_cast<float>(depth / depth_scale);
  +
  // rviz expects the data in metres
  - float z = depth / 1000.0f;
  + z /= 1000.0f;
  *iter_x = z * (j - x0) / fx;
  *iter_y = z * (i - y0) / fy;
  