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OdometryIcp: fixed local scan map transform. Other minor changes.

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matlabbe
2018-03-17 18:27:27 -04:00
parent 88b7991e22
commit cb61f33ccf
3 changed files with 3 additions and 7 deletions
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src/OdometryROS.cpp
+2 -2
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@@ -600,12 +600,12 @@ void OdometryROS::processData(const SensorData & data, const ros::Time & stamp)
sensor_msgs::PointCloud2 cloudMsg;
if(info.localScanMap.hasNormals())
{
pcl::PointCloud<pcl::PointNormal>::Ptr cloud = util3d::laserScanToPointCloudNormal(info.localScanMap);
pcl::PointCloud<pcl::PointNormal>::Ptr cloud = util3d::laserScanToPointCloudNormal(info.localScanMap, info.localScanMap.localTransform());
pcl::toROSMsg(*cloud, cloudMsg);
}
else
{
pcl::PointCloud<pcl::PointXYZ>::Ptr cloud = util3d::laserScanToPointCloud(info.localScanMap);
pcl::PointCloud<pcl::PointXYZ>::Ptr cloud = util3d::laserScanToPointCloud(info.localScanMap, info.localScanMap.localTransform());
pcl::toROSMsg(*cloud, cloudMsg);
}
src/nodelets/icp_odometry.cpp
-4
View File
@@ -275,10 +275,6 @@ private:
pclScan = util3d::downsample(pclScan, scanDownsamplingStep_);
maxLaserScans /= scanDownsamplingStep_;
}
if(!pclScan->is_dense)
{
pclScan = util3d::removeNaNNormalsFromPointCloud(pclScan);
}
scan = util3d::laserScanFromPointCloud(*pclScan);
}
else