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Updated with latest rtabmap changes.

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This commit is contained in:
matlabbe
2021-02-07 17:28:43 -05:00
parent 5a0ddaf9f5
commit 1f5239245c
3 changed files with 20 additions and 22 deletions
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src/MsgConversion.cpp
+8 -8
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@@ -2102,7 +2102,7 @@ bool convertScanMsg(
pcl::PointCloud<pcl::PointXYZI>::Ptr pclScan(new pcl::PointCloud<pcl::PointXYZI>);
pcl::fromROSMsg(scanOut, *pclScan);
pclScan->is_dense = true;
data = rtabmap::util3d::laserScan2dFromPointCloud(*pclScan, laserToOdom); // put back in laser frame
data = rtabmap::util3d::laserScan2dFromPointCloud(*pclScan, laserToOdom).data(); // put back in laser frame
format = rtabmap::LaserScan::kXYI;
}
else
@@ -2110,7 +2110,7 @@ bool convertScanMsg(
pcl::PointCloud<pcl::PointXYZ>::Ptr pclScan(new pcl::PointCloud<pcl::PointXYZ>);
pcl::fromROSMsg(scanOut, *pclScan);
pclScan->is_dense = true;
data = rtabmap::util3d::laserScan2dFromPointCloud(*pclScan, laserToOdom); // put back in laser frame
data = rtabmap::util3d::laserScan2dFromPointCloud(*pclScan, laserToOdom).data(); // put back in laser frame
format = rtabmap::LaserScan::kXY;
}
@@ -2217,7 +2217,7 @@ bool convertScan3dMsg(
{
pclScan = rtabmap::util3d::removeNaNNormalsFromPointCloud(pclScan);
}
scan = rtabmap::LaserScan(rtabmap::util3d::laserScanFromPointCloud(*pclScan), maxPoints, maxRange, rtabmap::LaserScan::kXYZRGBNormal, scanLocalTransform);
scan = rtabmap::LaserScan(rtabmap::util3d::laserScanFromPointCloud(*pclScan), maxPoints, maxRange, scanLocalTransform);
}
else if(hasIntensity)
{
@@ -2227,7 +2227,7 @@ bool convertScan3dMsg(
{
pclScan = rtabmap::util3d::removeNaNNormalsFromPointCloud(pclScan);
}
scan = rtabmap::LaserScan(rtabmap::util3d::laserScanFromPointCloud(*pclScan), maxPoints, maxRange, rtabmap::LaserScan::kXYZINormal, scanLocalTransform);
scan = rtabmap::LaserScan(rtabmap::util3d::laserScanFromPointCloud(*pclScan), maxPoints, maxRange, scanLocalTransform);
}
else
{
@@ -2237,7 +2237,7 @@ bool convertScan3dMsg(
{
pclScan = rtabmap::util3d::removeNaNNormalsFromPointCloud(pclScan);
}
scan = rtabmap::LaserScan(rtabmap::util3d::laserScanFromPointCloud(*pclScan), maxPoints, maxRange, rtabmap::LaserScan::kXYZNormal, scanLocalTransform);
scan = rtabmap::LaserScan(rtabmap::util3d::laserScanFromPointCloud(*pclScan), maxPoints, maxRange, scanLocalTransform);
}
}
else
@@ -2250,7 +2250,7 @@ bool convertScan3dMsg(
{
pclScan = rtabmap::util3d::removeNaNFromPointCloud(pclScan);
}
scan = rtabmap::LaserScan(rtabmap::util3d::laserScanFromPointCloud(*pclScan), maxPoints, maxRange, rtabmap::LaserScan::kXYZRGB, scanLocalTransform);
scan = rtabmap::LaserScan(rtabmap::util3d::laserScanFromPointCloud(*pclScan), maxPoints, maxRange, scanLocalTransform);
}
else if(hasIntensity)
{
@@ -2260,7 +2260,7 @@ bool convertScan3dMsg(
{
pclScan = rtabmap::util3d::removeNaNFromPointCloud(pclScan);
}
scan = rtabmap::LaserScan(rtabmap::util3d::laserScanFromPointCloud(*pclScan), maxPoints, maxRange, rtabmap::LaserScan::kXYZI, scanLocalTransform);
scan = rtabmap::LaserScan(rtabmap::util3d::laserScanFromPointCloud(*pclScan), maxPoints, maxRange, scanLocalTransform);
}
else
{
@@ -2270,7 +2270,7 @@ bool convertScan3dMsg(
{
pclScan = rtabmap::util3d::removeNaNFromPointCloud(pclScan);
}
scan = rtabmap::LaserScan(rtabmap::util3d::laserScanFromPointCloud(*pclScan), maxPoints, maxRange, rtabmap::LaserScan::kXYZ, scanLocalTransform);
scan = rtabmap::LaserScan(rtabmap::util3d::laserScanFromPointCloud(*pclScan), maxPoints, maxRange, scanLocalTransform);
}
}
return true;