| 45 | } |
| 46 | |
| 47 | void GridMapPclLoader::setWorkingCloud(Pointcloud::ConstPtr workingCloud) { |
| 48 | workingCloud_.reset(); |
| 49 | Pointcloud::Ptr temp(new Pointcloud()); |
| 50 | pcl::copyPointCloud(*workingCloud, *temp); |
| 51 | workingCloud_ = temp; |
| 52 | } |
| 53 | |
| 54 | void GridMapPclLoader::preProcessInputCloud() { |
| 55 | // Preprocess: Remove outliers, downsample cloud, transform cloud |