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Fixed "wrong scan number" error when OdomLOAM/Sensor is 0 (VLP16)

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matlabbe
2021-09-22 10:06:34 -04:00
parent b6671f4d8c
commit cff0d15460
1 changed files with 1 additions and 1 deletions
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2
corelib/src/odometry/OdometryFLOAM.cpp
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@@ -79,7 +79,7 @@ OdometryFLOAM::OdometryFLOAM(const ParametersMap & parameters) :
lidar::Lidar lidar_param; lidar::Lidar lidar_param;
lidar_param.setScanPeriod(scan_period); lidar_param.setScanPeriod(scan_period);
lidar_param.setVerticalAngle(vertical_angle); lidar_param.setVerticalAngle(vertical_angle);
lidar_param.setLines(sensor==2?64:sensor==1?32:sensor); lidar_param.setLines(sensor==2?64:sensor==1?32:16);
lidar_param.setMaxDistance(max_dis<=0?200:max_dis); lidar_param.setMaxDistance(max_dis<=0?200:max_dis);
lidar_param.setMinDistance(min_dis); lidar_param.setMinDistance(min_dis);