From 7e70a03bc004074075bb03db66e59b75bf3f19f5 Mon Sep 17 00:00:00 2001 From: hoangson02 Date: Wed, 11 Mar 2026 09:06:16 +0000 Subject: [PATCH] fix bug nan in function transformLaserScanToPointCloud_ --- src/laser_geometry.cpp | 9 +++++++++ 1 file changed, 9 insertions(+) diff --git a/src/laser_geometry.cpp b/src/laser_geometry.cpp index f6d38f4..294bb13 100644 --- a/src/laser_geometry.cpp +++ b/src/laser_geometry.cpp @@ -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,