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matlabbe
2019-11-21 10:47:44 -05:00
parent 1396c94d22
commit 3b6792920e
1 changed files with 5 additions and 5 deletions
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src/nodelets/point_cloud_assembler.cpp
+5 -5
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@@ -107,7 +107,7 @@ private:
pnh.param("range_min", rangeMin_, rangeMin_); pnh.param("range_min", rangeMin_, rangeMin_);
pnh.param("range_max", rangeMax_, rangeMax_); pnh.param("range_max", rangeMax_, rangeMax_);
pnh.param("voxel_size", voxelSize_, voxelSize_); pnh.param("voxel_size", voxelSize_, voxelSize_);
ROS_ASSERT(maxClouds_>=0 && assemblingTime_ >=0); ROS_ASSERT(maxClouds_>0 || assemblingTime_ >0.0);
cloudsSkipped_ = skipClouds_; cloudsSkipped_ = skipClouds_;
@@ -168,9 +168,9 @@ private:
*cpy = *cloudMsg; *cpy = *cloudMsg;
clouds_.push_back(cpy); clouds_.push_back(cpy);
if( (int)clouds_.size() >= maxClouds_ && maxClouds_ != 0 if( (int)clouds_.size() >= maxClouds_ && maxClouds_ > 0
|| ||
(double)(*cpy).header.stamp.toSec() >= (double)clouds_[0]->header.stamp.toSec() + assemblingTime_ && assemblingTime_ != 0.0 ) (double)(*cpy).header.stamp.toSec() >= (double)clouds_[0]->header.stamp.toSec() + assemblingTime_ && assemblingTime_ > 0.0 )
{ {
pcl::PCLPointCloud2Ptr assembled(new pcl::PCLPointCloud2); pcl::PCLPointCloud2Ptr assembled(new pcl::PCLPointCloud2);
pcl_conversions::toPCL(*clouds_.back(), *assembled); pcl_conversions::toPCL(*clouds_.back(), *assembled);
@@ -205,7 +205,7 @@ private:
pcl::concatenatePointCloud(*assembled, *rtabmap::util3d::laserScanToPointCloud2(scan, t), *assembledTmp); pcl::concatenatePointCloud(*assembled, *rtabmap::util3d::laserScanToPointCloud2(scan, t), *assembledTmp);
} }
else else
{ {
sensor_msgs::PointCloud2 output; sensor_msgs::PointCloud2 output;
pcl_ros::transformPointCloud(t.toEigen4f(), *clouds_[i], output); pcl_ros::transformPointCloud(t.toEigen4f(), *clouds_[i], output);
pcl::PCLPointCloud2 output2; pcl::PCLPointCloud2 output2;