Publishing aligned point cloud helps debug pointcloud registration issue in local slam.
These point clouds could also be accumulated in the odom frame to produce a denser pointcloud useful in some applications.
map_cloud_generator had a fixed resolution of 0.05 and param map_cloud_resolution was never used for anything. I gues this param was meant to be used for map_cloud_generator.
For resolution of 0.0 or less I am bypassing the filter. That way I am also able to preserve intensitety values in the final point cloud. Currently OctreePointCloud does not keep intensities.
koide3
commented
3 years ago
Publishing aligned point cloud helps debug pointcloud registration issue in local slam. These point clouds could also be accumulated in the odom frame to produce a denser pointcloud useful in some applications.
map_cloud_generator had a fixed resolution of 0.05 and param
map_cloud_resolutionwas never used for anything. I gues this param was meant to be used for map_cloud_generator.For resolution of 0.0 or less I am bypassing the filter. That way I am also able to preserve intensitety values in the final point cloud. Currently OctreePointCloud does not keep intensities.