fix(voxel_grid_downsample_filter): support no intensity case #4922
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Signed-off-by: atsushi421 <[email protected]>
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Sep 15, 2023
…efoundation#4922) fix: support for no intensity field Signed-off-by: atsushi421 <[email protected]>
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Description
This PR fixes a bug in
fast_voxel_grid_downsample_filterwhenuse_down_sample_filteris set toTrueinpointcloud_map_filter.launch.py.A validity check has been added because the pointcloud intensity field is not present in this scenario.
Related links
faster_voxel_grid_downsample_filterTests performed
I have confirmed that rosbag replay simulation works when
use_down_sample_filteris set toTrueinpointcloud_map_filter.launch.py.In addition, I have comfirmed the following between point clouds with the same timestamp before and after this PR:
To reproduce: https://github.com/atsushi421/compare_topic_echo
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