12345qiupeng
/
cartographer_ros
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

Track Cartographer API. (#320)

master
Holger Rapp 2017-05-03 11:56:37 +02:00 committed by GitHub
parent a44527ea7c
commit 1514f71b30
1 changed files with 0 additions and 5 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

5
cartographer_ros/cartographer_ros/assets_writer.cc
View File

@ -78,11 +78,6 @@ void Write3DAssets(const std::vector<::cartographer::mapping::TrajectoryNode>&
auto points_batch = carto::common::make_unique<carto::io::PointsBatch>(); auto points_batch = carto::common::make_unique<carto::io::PointsBatch>();
points_batch->origin = range_data.origin; points_batch->origin = range_data.origin;
points_batch->points = range_data.returns; points_batch->points = range_data.returns;
for (const uint8 reflectivity :
node.constant_data->range_data_3d.reflectivities) {
points_batch->colors.push_back(
carto::io::Color{{reflectivity, reflectivity, reflectivity}});
}
ply_writing_points_processor.Process(std::move(points_batch)); ply_writing_points_processor.Process(std::move(points_batch));
} }
ply_writing_points_processor.Flush(); ply_writing_points_processor.Flush();