DuongTD/laser_geometry
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We know offset_shift is always 4, makes things a lot simpler

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git-svn-id: https://code.ros.org/svn/ros-pkg/stacks/laser_pipeline/trunk@35246 eb33c2ac-9c88-4c90-87e0-44a10359b0c3
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Eitan Marder-Eppstein 2011-01-14 09:40:31 +00:00
parent c72d74c7fb
commit a85006555f
1 changed files with 2 additions and 11 deletions
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13
src/laser_geometry.cpp
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@ -618,17 +618,8 @@ const boost::numeric::ublas::matrix<double>& LaserProjection::getUnitVectors_(do
} }
else else
{ {
//check if we need to get an offset shift to remove the index field //once we hit the index, we'll set the shift
if(i < cloud_out.fields.size() - 1) offset_shift = 4;
{
offset_shift = cloud_out.fields[i + 1].offset - cloud_out.fields[i].offset;
}
else
{
//we know that the index is the last field... but the shift is still important
//for computing the point_step and data size
offset_shift = 4;
}
} }
} }