From 9c3718b8af6a7061223452383be653029cf71228 Mon Sep 17 00:00:00 2001
From: vsainz <vsainz@iri.upc.edu>
Date: Wed, 10 Aug 2022 18:09:43 +0200
Subject: [PATCH] created setPCLDownsampled(pcl_ptr)
---
include/laser/capture/capture_laser_3d.h | 4 ++--
src/capture/capture_laser_3d.cpp | 7 ++++++-
src/processor/processor_odom_icp_3d.cpp | 7 +++++--
3 files changed, 13 insertions(+), 5 deletions(-)
diff --git a/include/laser/capture/capture_laser_3d.h b/include/laser/capture/capture_laser_3d.h
index b7a0b1cef..e6fae887f 100644
--- a/include/laser/capture/capture_laser_3d.h
+++ b/include/laser/capture/capture_laser_3d.h
@@ -43,11 +43,11 @@ class CaptureLaser3d : public CaptureBase
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_;
+ void setPCLDownsampled(pcl::PointCloud<pcl::PointXYZ>::Ptr _pcl_ptr);
private:
pcl::PointCloud<pcl::PointXYZ>::Ptr point_cloud_raw_;
+ pcl::PointCloud<pcl::PointXYZ>::Ptr point_cloud_;
};
} // namespace wolf
diff --git a/src/capture/capture_laser_3d.cpp b/src/capture/capture_laser_3d.cpp
index 5c9ed0cc2..234713ba6 100644
--- a/src/capture/capture_laser_3d.cpp
+++ b/src/capture/capture_laser_3d.cpp
@@ -29,11 +29,16 @@ CaptureLaser3d::CaptureLaser3d(const TimeStamp& _timestamp,
pcl::PointCloud<pcl::PointXYZ>::Ptr _point_cloud_raw)
: CaptureBase("CaptureLaser3d", _timestamp, _sensor), point_cloud_raw_(_point_cloud_raw)
{
-
+ point_cloud_ = nullptr;
}
CaptureLaser3d::~CaptureLaser3d() {}
+void CaptureLaser3d::setPCLDownsampled(pcl::PointCloud<pcl::PointXYZ>::Ptr _pcl_ptr)
+{
+ point_cloud_ = _pcl_ptr;
+}
+
pcl::PointCloud<pcl::PointXYZ>::Ptr CaptureLaser3d::getPCLDownsampled()
{
return point_cloud_;
diff --git a/src/processor/processor_odom_icp_3d.cpp b/src/processor/processor_odom_icp_3d.cpp
index e3d606c9f..bae57adfa 100644
--- a/src/processor/processor_odom_icp_3d.cpp
+++ b/src/processor/processor_odom_icp_3d.cpp
@@ -95,11 +95,14 @@ void ProcessorOdomIcp3d::preProcess()
pcl::VoxelGrid<pcl::PointXYZ> grid;
grid.setLeafSize(pcl_voxel_size, pcl_voxel_size, pcl_voxel_size);
grid.setInputCloud(incoming_laser_->getPCLRaw());
- grid.filter(* incoming_laser_->point_cloud_); // public member of class, better with setter
+
+ pcl::PointCloud<pcl::PointXYZ>::Ptr pcl_ptr = pcl::make_shared<pcl::PointCloud<pcl::PointXYZ>>();
+ grid.filter(*pcl_ptr);
+ incoming_laser_->setPCLDownsampled(pcl_ptr);
}
else
{
- incoming_laser_->point_cloud_ = incoming_laser_->getPCLRaw();
+ incoming_laser_->setPCLDownsampled(incoming_laser_->getPCLRaw());
}
}
--
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