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Enabled a single point cloud for 2D input. (#382)

master
Holger Rapp 2017-06-16 17:21:24 +02:00 committed by GitHub
parent 10edc33253
commit e006554258
1 changed files with 2 additions and 2 deletions
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4
cartographer_ros/cartographer_ros/node.cc
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@ -365,8 +365,8 @@ void Node::LaunchSubscribers(const TrajectoryOptions& options,
bool Node::ValidateTrajectoryOptions(const TrajectoryOptions& options) { bool Node::ValidateTrajectoryOptions(const TrajectoryOptions& options) {
if (node_options_.map_builder_options.use_trajectory_builder_2d() && if (node_options_.map_builder_options.use_trajectory_builder_2d() &&
options.trajectory_builder_options.has_trajectory_builder_2d_options()) { options.trajectory_builder_options.has_trajectory_builder_2d_options()) {
// Using point clouds is only supported in 3D. // Only one point cloud source is supported in 2D.
if (options.num_point_clouds == 0) { if (options.num_point_clouds <= 1) {
return true; return true;
} }
} }