DuongTD/laser_geometry
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fix bug nan in function transformLaserScanToPointCloud_

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hoangson02
2026-03-11 09:06:16 +00:00
parent 50062ef549
commit 7e70a03bc0
1 changed files with 9 additions and 0 deletions
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9
src/laser_geometry.cpp
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@@ -463,6 +463,15 @@ void LaserProjection::transformLaserScanToPointCloud_(
tf3::Vector3 origin_end(end_transform.transform.translation.x,
end_transform.transform.translation.y,
end_transform.transform.translation.z);
if(target_frame == scan_in.header.frame_id)
{
quat_start = tf3::Quaternion(0, 0, 0, 1);
quat_end = tf3::Quaternion(0, 0, 0, 1);
origin_start = tf3::Vector3(0, 0, 0);
origin_end = tf3::Vector3( 0, 0, 0);
}
transformLaserScanToPointCloud_(
target_frame, scan_in, cloud_out,
quat_start, origin_start,