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fix unused down_sample:voxel_m parameter #24

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fix unused down_sample:voxel_m parameter #24

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6 changes: 3 additions & 3 deletions src/calibration.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -103,12 +103,12 @@ void Calibrator::ProcessPointcloud(const pcl::PointCloud<pcl::PointXYZI>::Ptr pc

pcl::PointCloud<pcl::PointXYZI>::Ptr cloud_tmp(new pcl::PointCloud<pcl::PointXYZI>);
pcl::PointCloud<pcl::PointXYZI>::Ptr cloud_tmp_ds(new pcl::PointCloud<pcl::PointXYZI>);
float kLeafSize = 0.1;
const double leafSize = params_.down_sample_voxel;
pcl::VoxelGrid<pcl::PointXYZI> filter_map;
filter_map.setLeafSize(kLeafSize, kLeafSize, kLeafSize);
filter_map.setLeafSize(leafSize, leafSize, leafSize);
cloud_downsampled->clear();

pcl::octree::OctreePointCloud<pcl::PointXYZI> octree{1250 * kLeafSize};
pcl::octree::OctreePointCloud<pcl::PointXYZI> octree{1250.0 * leafSize};
octree.setInputCloud(pc_filtered);
octree.addPointsFromInputCloud();
for (auto it = octree.leaf_depth_begin(); it != octree.leaf_depth_end(); ++it) {
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