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icp_odometry: fixed scan conversion with intensity (#412)

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matlabbe
2020-05-25 20:10:05 -04:00
parent e69557c0ca
commit 2349c6b11e
1 changed files with 2 additions and 2 deletions
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src/nodelets/icp_odometry.cpp
+2 -2
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@@ -332,7 +332,7 @@ private:
} }
rtabmap::SensorData data( rtabmap::SensorData data(
LaserScan::backwardCompatibility(scan, maxLaserScans, scanMsg->range_max, localScanTransform), LaserScan(scan, maxLaserScans, scanMsg->range_max, scan.channels()==6?LaserScan::kXYINormal:LaserScan::kXYI, localScanTransform),
cv::Mat(), cv::Mat(),
cv::Mat(), cv::Mat(),
CameraModel(), CameraModel(),
@@ -496,7 +496,7 @@ private:
} }
} }
LaserScan laserScan = LaserScan::backwardCompatibility(scan, maxLaserScans, 0, localScanTransform); LaserScan laserScan(scan, maxLaserScans, 0, scan.channels()==7?LaserScan::kXYZINormal:LaserScan::kXYZI, localScanTransform);
if(scanRangeMin_ > 0 || scanRangeMax_ > 0) if(scanRangeMin_ > 0 || scanRangeMax_ > 0)
{ {
laserScan = util3d::rangeFiltering(laserScan, scanRangeMin_, scanRangeMax_); laserScan = util3d::rangeFiltering(laserScan, scanRangeMin_, scanRangeMax_);