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fix velodyne msg converting error

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haebum 2021-07-07 15:12:16 +09:00 committed by Cris.Wei
parent fd91caf212
commit 6dce4da6f9
2 changed files with 7 additions and 7 deletions
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8
src/preprocess.cpp
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@ -282,7 +282,7 @@ void Preprocess::velodyne_handler(const sensor_msgs::PointCloud2::ConstPtr &msg)
float yaw_last[MAX_LINE_NUM]={0.0}; // yaw of last scan point float yaw_last[MAX_LINE_NUM]={0.0}; // yaw of last scan point
float time_last[MAX_LINE_NUM]={0.0}; // last offset time float time_last[MAX_LINE_NUM]={0.0}; // last offset time
if (pl_orig.points[plsize - 1].t > 0) if (pl_orig.points[plsize - 1].time > 0)
{ {
given_offset_time = true; given_offset_time = true;
} }
@ -323,7 +323,7 @@ void Preprocess::velodyne_handler(const sensor_msgs::PointCloud2::ConstPtr &msg)
added_pt.y = pl_orig.points[i].y; added_pt.y = pl_orig.points[i].y;
added_pt.z = pl_orig.points[i].z; added_pt.z = pl_orig.points[i].z;
added_pt.intensity = pl_orig.points[i].intensity; added_pt.intensity = pl_orig.points[i].intensity;
added_pt.curvature = pl_orig.points[i].t / 1000.0; // units: ms added_pt.curvature = pl_orig.points[i].time / 1000.0; // units: ms
if (!given_offset_time) if (!given_offset_time)
{ {
@ -392,7 +392,7 @@ void Preprocess::velodyne_handler(const sensor_msgs::PointCloud2::ConstPtr &msg)
added_pt.y = pl_orig.points[i].y; added_pt.y = pl_orig.points[i].y;
added_pt.z = pl_orig.points[i].z; added_pt.z = pl_orig.points[i].z;
added_pt.intensity = pl_orig.points[i].intensity; added_pt.intensity = pl_orig.points[i].intensity;
added_pt.curvature = pl_orig.points[i].t / 1000.0; added_pt.curvature = pl_orig.points[i].time / 1000.0;
if (!given_offset_time) if (!given_offset_time)
{ {
@ -920,4 +920,4 @@ bool Preprocess::edge_jump_judge(const PointCloudXYZI &pl, vector<orgtype> &type
} }
return true; return true;
} }

6
src/preprocess.h
View File

@ -37,7 +37,7 @@ namespace velodyne_ros {
struct EIGEN_ALIGN16 Point { struct EIGEN_ALIGN16 Point {
PCL_ADD_POINT4D; PCL_ADD_POINT4D;
float intensity; float intensity;
uint32_t t; float time;
uint16_t ring; uint16_t ring;
EIGEN_MAKE_ALIGNED_OPERATOR_NEW EIGEN_MAKE_ALIGNED_OPERATOR_NEW
}; };
@ -47,7 +47,7 @@ POINT_CLOUD_REGISTER_POINT_STRUCT(velodyne_ros::Point,
(float, y, y) (float, y, y)
(float, z, z) (float, z, z)
(float, intensity, intensity) (float, intensity, intensity)
(uint32_t, t, t) (float, time, time)
(uint16_t, ring, ring) (uint16_t, ring, ring)
) )
@ -119,4 +119,4 @@ class Preprocess
double edgea, edgeb; double edgea, edgeb;
double smallp_intersect, smallp_ratio; double smallp_intersect, smallp_ratio;
double vx, vy, vz; double vx, vy, vz;
}; };