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localization_in_auto_driving/lidar_localization/src/data_pretreat/data_pretreat_flow.cpp
Line 162 in 5b727bc
The text was updated successfully, but these errors were encountered:
你是运行的时候在这里报错了?还是看代码觉得这里有问题。 这里其实没问题,output_cloud_ptr被reset了,但是在reset之前,input_cloud_ptr的点云被保存在了origin_cloud_ptr里,所以点云并没有丢失。
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是我的问题,没有注意到函数体中的第一句代码。我运行时候出现(Assertion cloud.points.size() == cloud.width * cloud.height failed)错误,问题出现在去畸变后的cloud_pub_ptr_->Publish(),我将此函数的参数改为常引用了。
cloud.points.size() == cloud.width * cloud.height
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localization_in_auto_driving/lidar_localization/src/data_pretreat/data_pretreat_flow.cpp
Line 162 in 5b727bc
bool DistortionAdjust::AdjustCloud(CloudData::CLOUD_PTR& input_cloud_ptr, CloudData::CLOUD_PTR& output_cloud_ptr) {
CloudData::CLOUD_PTR origin_cloud_ptr(new CloudData::CLOUD(*input_cloud_ptr));
output_cloud_ptr.reset(new CloudData::CLOUD());
...
}
这里的输入和输出不能是同一个指针,在里边的函数首先reset了。
The text was updated successfully, but these errors were encountered: