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ros-pkg: rtabmapviz: fixed "tf2::ExtrapolationException" exception crash when trying to transform laser scan to point cloud

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git-svn-id: http://rtabmap.googlecode.com/svn/trunk/ros-pkg@1656 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2014-08-19 19:29:14 +00:00
parent a5e12a0633
commit d59b07927f
1 changed files with 5 additions and 5 deletions
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src/GuiWrapper.cpp
+5 -5
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@@ -649,10 +649,14 @@ void GuiWrapper::depthScanCallback(
{
// TF ready?
Transform localTransform;
sensor_msgs::PointCloud2 scanOut;
try
{
//transform laser to point cloud and to frameId_
laser_geometry::LaserProjection projection;
projection.transformLaserScanToPointCloud(frameId_, *scanMsg, scanOut, tfListener_);
tf::StampedTransform tmp;
tfListener_.lookupTransform(frameId_, scanMsg->header.frame_id, scanMsg->header.stamp, tmp);
tfListener_.lookupTransform(frameId_, depthMsg->header.frame_id, depthMsg->header.stamp, tmp);
localTransform = transformFromTF(tmp);
}
@@ -662,10 +666,6 @@ void GuiWrapper::depthScanCallback(
return;
}
//transform in frameId_ frame
sensor_msgs::PointCloud2 scanOut;
laser_geometry::LaserProjection projection;
projection.transformLaserScanToPointCloud(frameId_, *scanMsg, scanOut, tfListener_);
pcl::PointCloud<pcl::PointXYZ> pclScan;
pcl::fromROSMsg(scanOut, pclScan);
cv::Mat scan = util3d::depth2DFromPointCloud(pclScan);