i/rtabmap_ros
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap_ros.git synced 2026-10-07 02:07:45 +08:00
Code Issues Packages Projects Releases Wiki Activity

pointcloud_to_depthimage: added fill_iterations parameter. point_cloud_xyz[rgb]: added filter_nans parameter. convertScan3dMsg(): remove NaNs if input cloud is not dense.

Browse Source
This commit is contained in:
matlabbe
2017-09-18 21:57:22 -04:00
parent c452990fa5
commit ea6f39eb73
6 changed files with 71 additions and 2 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/MsgConversion.cpp
+16
View File
@@ -1505,12 +1505,20 @@ bool convertScan3dMsg(
{
pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr pclScan(new pcl::PointCloud<pcl::PointXYZRGBNormal>);
pcl::fromROSMsg(*scan3dMsg, *pclScan);
if(!pclScan->is_dense)
{
pclScan = rtabmap::util3d::removeNaNNormalsFromPointCloud(pclScan);
}
scan = rtabmap::util3d::laserScanFromPointCloud(*pclScan);
}
else
{
pcl::PointCloud<pcl::PointNormal>::Ptr pclScan(new pcl::PointCloud<pcl::PointNormal>);
pcl::fromROSMsg(*scan3dMsg, *pclScan);
if(!pclScan->is_dense)
{
pclScan = rtabmap::util3d::removeNaNNormalsFromPointCloud(pclScan);
}
scan = rtabmap::util3d::laserScanFromPointCloud(*pclScan);
}
}
@@ -1520,6 +1528,10 @@ bool convertScan3dMsg(
{
pcl::PointCloud<pcl::PointXYZRGB>::Ptr pclScan(new pcl::PointCloud<pcl::PointXYZRGB>);
pcl::fromROSMsg(*scan3dMsg, *pclScan);
if(!pclScan->is_dense)
{
pclScan = rtabmap::util3d::removeNaNFromPointCloud(pclScan);
}
if(scanCloudNormalK > 0 || scanCloudNormalRadius>0.0f)
{
@@ -1538,6 +1550,10 @@ bool convertScan3dMsg(
{
pcl::PointCloud<pcl::PointXYZ>::Ptr pclScan(new pcl::PointCloud<pcl::PointXYZ>);
pcl::fromROSMsg(*scan3dMsg, *pclScan);
if(!pclScan->is_dense)
{
pclScan = rtabmap::util3d::removeNaNFromPointCloud(pclScan);
}
if(scanCloudNormalK > 0 || scanCloudNormalRadius>0.0f)
{