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changed assembling cloud condition from nb of clouds to sweep time

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Prescillia
2019-11-14 15:21:48 -05:00
parent 420d7403dd
commit cb57676af8
1 changed files with 7 additions and 3 deletions
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src/nodelets/point_cloud_assembler.cpp
+7 -3
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@@ -67,7 +67,8 @@ public:
warningThread_(0),
callbackCalled_(false),
exactSync_(0),
maxClouds_(1),
maxClouds_(0),
assemblingTime_(0),
skipClouds_(0),
cloudsSkipped_(0),
waitForTransformDuration_(0.1),
@@ -100,12 +101,13 @@ private:
pnh.param("queue_size", queueSize, queueSize);
pnh.param("fixed_frame_id", fixedFrameId_, fixedFrameId_);
pnh.param("max_clouds", maxClouds_, maxClouds_);
pnh.param("assembling_time", assemblingTime_, assemblingTime_);
pnh.param("skip_clouds", skipClouds_, skipClouds_);
pnh.param("wait_for_transform_duration", waitForTransformDuration_, waitForTransformDuration_);
pnh.param("range_min", rangeMin_, rangeMin_);
pnh.param("range_max", rangeMax_, rangeMax_);
pnh.param("voxel_size", voxelSize_, voxelSize_);
ROS_ASSERT(maxClouds_>0);
ROS_ASSERT(maxClouds_>=0);
cloudsSkipped_ = skipClouds_;
@@ -166,7 +168,8 @@ private:
*cpy = *cloudMsg;
clouds_.push_back(cpy);
if((int)clouds_.size() >= maxClouds_)
if( (int)clouds_.size() >= maxClouds_ && maxClouds_ != 0
|| (double)(*cpy).header.stamp.toSec() >= (double)clouds_[0]->header.stamp.toSec() + assemblingTime_ )
{
pcl::PCLPointCloud2Ptr assembled(new pcl::PCLPointCloud2);
pcl_conversions::toPCL(*clouds_.back(), *assembled);
@@ -270,6 +273,7 @@ private:
int maxClouds_;
int skipClouds_;
int cloudsSkipped_;
double assemblingTime_;
double waitForTransformDuration_;
double rangeMin_;
double rangeMax_;