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point_cloud_xyz[rgb]: updated indices handling

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This commit is contained in:
matlabbe
2017-07-23 22:31:45 -04:00
parent 96dd78dc67
commit 44c279dab2
2 changed files with 3 additions and 5 deletions
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src/nodelets/point_cloud_xyz.cpp
+2 -4
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@@ -281,9 +281,9 @@ private:
void processAndPublish(pcl::PointCloud<pcl::PointXYZ>::Ptr & pclCloud, pcl::IndicesPtr & indices, const std_msgs::Header & header) void processAndPublish(pcl::PointCloud<pcl::PointXYZ>::Ptr & pclCloud, pcl::IndicesPtr & indices, const std_msgs::Header & header)
{ {
if(pclCloud->size() && voxelSize_ > 0.0) if(indices->size() && voxelSize_ > 0.0)
{ {
pclCloud = rtabmap::util3d::voxelize(pclCloud, voxelSize_); pclCloud = rtabmap::util3d::voxelize(pclCloud, indices, voxelSize_);
} }
// Do radius filtering after voxel filtering ( a lot faster) // Do radius filtering after voxel filtering ( a lot faster)
@@ -297,8 +297,6 @@ private:
{ {
indices = rtabmap::util3d::radiusFiltering(pclCloud, indices, noiseFilterRadius_, noiseFilterMinNeighbors_); indices = rtabmap::util3d::radiusFiltering(pclCloud, indices, noiseFilterRadius_, noiseFilterMinNeighbors_);
} }
pcl::IndicesPtr indices = rtabmap::util3d::radiusFiltering(pclCloud, noiseFilterRadius_, noiseFilterMinNeighbors_);
pcl::PointCloud<pcl::PointXYZ>::Ptr tmp(new pcl::PointCloud<pcl::PointXYZ>); pcl::PointCloud<pcl::PointXYZ>::Ptr tmp(new pcl::PointCloud<pcl::PointXYZ>);
pcl::copyPointCloud(*pclCloud, *indices, *tmp); pcl::copyPointCloud(*pclCloud, *indices, *tmp);
pclCloud = tmp; pclCloud = tmp;
src/nodelets/point_cloud_xyzrgb.cpp
+1 -1
View File
@@ -324,7 +324,7 @@ private:
void processAndPublish(pcl::PointCloud<pcl::PointXYZRGB>::Ptr & pclCloud, pcl::IndicesPtr & indices, const std_msgs::Header & header) void processAndPublish(pcl::PointCloud<pcl::PointXYZRGB>::Ptr & pclCloud, pcl::IndicesPtr & indices, const std_msgs::Header & header)
{ {
if(pclCloud->size() && voxelSize_ > 0.0) if(indices->size() && voxelSize_ > 0.0)
{ {
pclCloud = rtabmap::util3d::voxelize(pclCloud, indices, voxelSize_); pclCloud = rtabmap::util3d::voxelize(pclCloud, indices, voxelSize_);
} }