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fix scan_publish and pcd_save problem

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This commit is contained in:
xw
2021-07-09 08:10:11 -04:00
parent 5354c5acba
commit c98ff91705
2 changed files with 34 additions and 25 deletions
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37
src/laserMapping.cpp
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@@ -445,20 +445,20 @@ PointCloudXYZI::Ptr pcl_wait_pub(new PointCloudXYZI(500000, 1));
PointCloudXYZI::Ptr pcl_wait_save(new PointCloudXYZI());
void publish_frame_world(const ros::Publisher & pubLaserCloudFullRes)
{
PointCloudXYZI::Ptr laserCloudFullRes(dense_pub_en ? feats_undistort : feats_down_body);
int size = laserCloudFullRes->points.size();
PointCloudXYZI::Ptr laserCloudWorld( \
new PointCloudXYZI(size, 1));
for (int i = 0; i < size; i++)
{
RGBpointBodyToWorld(&laserCloudFullRes->points[i], \
&laserCloudWorld->points[i]);
}
// *pcl_wait_pub += *laserCloudWorld;
if(1)
if(scan_pub_en)
{
PointCloudXYZI::Ptr laserCloudFullRes(dense_pub_en ? feats_undistort : feats_down_body);
int size = laserCloudFullRes->points.size();
PointCloudXYZI::Ptr laserCloudWorld( \
new PointCloudXYZI(size, 1));
for (int i = 0; i < size; i++)
{
RGBpointBodyToWorld(&laserCloudFullRes->points[i], \
&laserCloudWorld->points[i]);
}
sensor_msgs::PointCloud2 laserCloudmsg;
pcl::toROSMsg(*laserCloudWorld, laserCloudmsg);
laserCloudmsg.header.stamp = ros::Time::now();
@@ -471,8 +471,17 @@ void publish_frame_world(const ros::Publisher & pubLaserCloudFullRes)
/**************** save map ****************/
/* 1. make sure you have enough memories
/* 2. pcd save will largely influence the real-time performences **/
if (laserCloudWorld->size() > 0 && pcd_save_en)
if (pcd_save_en)
{
int size = feats_undistort->points.size();
PointCloudXYZI::Ptr laserCloudWorld( \
new PointCloudXYZI(size, 1));
for (int i = 0; i < size; i++)
{
RGBpointBodyToWorld(&feats_undistort->points[i], \
&laserCloudWorld->points[i]);
}
*pcl_wait_save += *laserCloudWorld;
}
}
@@ -879,7 +888,7 @@ int main(int argc, char** argv)
/******* Publish points *******/
publish_path(pubPath);
if(scan_pub_en) publish_frame_world(pubLaserCloudFullRes);
if (scan_pub_en || pcd_save_en) publish_frame_world(pubLaserCloudFullRes);
// publish_effect_world(pubLaserCloudEffect);
// publish_map(pubLaserCloudMap);