From 19129848cf2d1c7270dc5d251af66cfd6bc094db Mon Sep 17 00:00:00 2001
From: vsainz <vsainz@iri.upc.edu>
Date: Wed, 10 Aug 2022 17:22:26 +0200
Subject: [PATCH] Renamed getters of PCLs on capture
---
include/laser/capture/capture_laser_3d.h | 10 +++++-----
src/capture/capture_laser_3d.cpp | 8 ++++----
src/processor/processor_odom_icp_3d.cpp | 12 ++++++------
3 files changed, 15 insertions(+), 15 deletions(-)
diff --git a/include/laser/capture/capture_laser_3d.h b/include/laser/capture/capture_laser_3d.h
index dc3b0457b..b7a0b1cef 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 42bcf015e..5c9ed0cc2 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 6f6c4e7a0..e3d606c9f 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_);
--
GitLab