diff --git a/include/laser/capture/capture_laser_3d.h b/include/laser/capture/capture_laser_3d.h index dc3b0457bb660b06214fa7e7238f27b6f56c587e..b7a0b1cef35a8cc5900cc3cdbc241f16136ac9b2 100644 --- a/include/laser/capture/capture_laser_3d.h +++ b/include/laser/capture/capture_laser_3d.h @@ -37,12 +37,12 @@ WOLF_PTR_TYPEDEFS(CaptureLaser3d); class CaptureLaser3d : public CaptureBase { public: - CaptureLaser3d(const TimeStamp& _timestamp, SensorBasePtr _sensor, pcl::PointCloud<pcl::PointXYZ>::Ptr _point_cloud_raw);//, bool _downsample, double _voxel_size); + CaptureLaser3d(const TimeStamp& _timestamp, SensorBasePtr _sensor, pcl::PointCloud<pcl::PointXYZ>::Ptr _point_cloud_raw); ~CaptureLaser3d(); - pcl::PointCloud<pcl::PointXYZ>::Ptr getPointCloud(); - pcl::PointCloud<pcl::PointXYZ>::ConstPtr getPointCloud() const; - pcl::PointCloud<pcl::PointXYZ>::Ptr getPointCloudRaw(); - pcl::PointCloud<pcl::PointXYZ>::ConstPtr getPointCloudRaw() const; + pcl::PointCloud<pcl::PointXYZ>::Ptr getPCLDownsampled(); + pcl::PointCloud<pcl::PointXYZ>::ConstPtr getPCLDownsampled() const; + pcl::PointCloud<pcl::PointXYZ>::Ptr getPCLRaw(); + pcl::PointCloud<pcl::PointXYZ>::ConstPtr getPCLRaw() const; pcl::PointCloud<pcl::PointXYZ>::Ptr point_cloud_; diff --git a/src/capture/capture_laser_3d.cpp b/src/capture/capture_laser_3d.cpp index 42bcf015e60785fe980a30db8138140493991296..5c9ed0cc205b7d2aed801f364cae150556193a24 100644 --- a/src/capture/capture_laser_3d.cpp +++ b/src/capture/capture_laser_3d.cpp @@ -34,22 +34,22 @@ CaptureLaser3d::CaptureLaser3d(const TimeStamp& _timestamp, CaptureLaser3d::~CaptureLaser3d() {} -pcl::PointCloud<pcl::PointXYZ>::Ptr CaptureLaser3d::getPointCloud() +pcl::PointCloud<pcl::PointXYZ>::Ptr CaptureLaser3d::getPCLDownsampled() { return point_cloud_; } -pcl::PointCloud<pcl::PointXYZ>::ConstPtr CaptureLaser3d::getPointCloud() const +pcl::PointCloud<pcl::PointXYZ>::ConstPtr CaptureLaser3d::getPCLDownsampled() const { return point_cloud_; } -pcl::PointCloud<pcl::PointXYZ>::Ptr CaptureLaser3d::getPointCloudRaw() +pcl::PointCloud<pcl::PointXYZ>::Ptr CaptureLaser3d::getPCLRaw() { return point_cloud_raw_; } -pcl::PointCloud<pcl::PointXYZ>::ConstPtr CaptureLaser3d::getPointCloudRaw() const +pcl::PointCloud<pcl::PointXYZ>::ConstPtr CaptureLaser3d::getPCLRaw() const { return point_cloud_raw_; } diff --git a/src/processor/processor_odom_icp_3d.cpp b/src/processor/processor_odom_icp_3d.cpp index 6f6c4e7a025e8315f821e18d8952164c2aba8580..e3d606c9f039b38c54daeca9d0a6806c8a44f5f6 100644 --- a/src/processor/processor_odom_icp_3d.cpp +++ b/src/processor/processor_odom_icp_3d.cpp @@ -94,12 +94,12 @@ void ProcessorOdomIcp3d::preProcess() double pcl_voxel_size = params_odom_icp_->pcl_downsample_voxel_size; pcl::VoxelGrid<pcl::PointXYZ> grid; grid.setLeafSize(pcl_voxel_size, pcl_voxel_size, pcl_voxel_size); - grid.setInputCloud(incoming_laser_->getPointCloudRaw()); + grid.setInputCloud(incoming_laser_->getPCLRaw()); grid.filter(* incoming_laser_->point_cloud_); // public member of class, better with setter } else { - incoming_laser_->point_cloud_ = incoming_laser_->getPointCloudRaw(); + incoming_laser_->point_cloud_ = incoming_laser_->getPCLRaw(); } } @@ -131,8 +131,8 @@ unsigned int ProcessorOdomIcp3d::processKnown() if (origin_ptr_ && (incoming_ptr_ != origin_ptr_)) { origin_laser_ = std::static_pointer_cast<CaptureLaser3d>(origin_ptr_); - pairAlign(origin_laser_->getPointCloud(), - incoming_laser_->getPointCloud(), + pairAlign(origin_laser_->getPCLDownsampled(), + incoming_laser_->getPCLDownsampled(), T_origin_last_, T_origin_incoming_, registration_solver_); @@ -148,8 +148,8 @@ unsigned int ProcessorOdomIcp3d::processNew(const int& _max_features) if (last_ptr_) { last_laser_ = std::static_pointer_cast<CaptureLaser3d>(last_ptr_); - pairAlign(last_laser_->getPointCloud(), - incoming_laser_->getPointCloud(), + pairAlign(last_laser_->getPCLDownsampled(), + incoming_laser_->getPCLDownsampled(), Eigen::Isometry3d::Identity(), T_last_incoming_, registration_solver_);