Removed unused dependency. Fixed parameters in function call.

ctampier · Apr 30, 2024 · 3efef74 · 3efef74
1 parent 25c28bc
commit 3efef74
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Showing 4 changed files with 6 additions and 9 deletions.
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -2,7 +2,7 @@ cmake_minimum_required(VERSION 3.0.2)
 project(patchwork)
 
 add_compile_options(-std=c++17)
-set(CMAKE_BUILD_TYPE "Release")
+# set(CMAKE_BUILD_TYPE "Release")
 
 set(CMAKE_CXX_STANDARD 14)
 set(CMAKE_CXX_STANDARD_REQUIRED ON)
@@ -11,7 +11,6 @@ set(CMAKE_CXX_EXTENSIONS OFF)
 find_package(catkin REQUIRED COMPONENTS
         geometry_msgs
         message_generation
-        pcl_conversions
         pcl_ros
         roscpp
         rospy

diff --git a/nodes/pub_for_legoloam.cpp b/nodes/pub_for_legoloam.cpp
@@ -58,8 +58,8 @@ void callbackNode(const sensor_msgs::PointCloud2::ConstPtr& msg) {
     PatchworkGroundSeg->estimate_ground(pc_curr, pc_ground, pc_non_ground, time_taken);
 
 
-    auto msg_curr = cloud2msg(pc_curr, PatchworkGroundSeg->frame_patchwork);
-    auto msg_ground = cloud2msg(pc_ground, PatchworkGroundSeg->frame_patchwork);
+    auto msg_curr = cloud2msg(pc_curr);
+    auto msg_ground = cloud2msg(pc_ground);
 
     patchwork::ground_estimate cloud_estimate;
     cloud_estimate.header = msg->header;
@@ -68,9 +68,9 @@ void callbackNode(const sensor_msgs::PointCloud2::ConstPtr& msg) {
     EstimatePublisher.publish(cloud_estimate);
 
     /*
-    CloudPublisher.publish(cloud2msg(pc_curr, PatchworkGroundSeg->frame_patchwork));
-    PositivePublisher.publish(cloud2msg(pc_ground, PatchworkGroundSeg->frame_patchwork));
-    NegativePublisher.publish(cloud2msg(pc_non_ground, PatchworkGroundSeg->frame_patchwork));
+    CloudPublisher.publish(cloud2msg(pc_curr));
+    PositivePublisher.publish(cloud2msg(pc_ground));
+    NegativePublisher.publish(cloud2msg(pc_non_ground));
     */
 }
 

diff --git a/nodes/ros_kitti.cpp b/nodes/ros_kitti.cpp
@@ -2,7 +2,6 @@
 #define PCL_NO_PRECOMPILE
 #include <patchwork/node.h>
 #include "patchwork/patchwork.hpp"
-#include <pcl_conversions/pcl_conversions.h>
 #include <visualization_msgs/Marker.h>
 
 #include "tools/kitti_loader.hpp"

diff --git a/package.xml b/package.xml
@@ -13,7 +13,6 @@
   <license>MIT</license>
   <buildtool_depend>catkin</buildtool_depend>
   <depend>geometry_msgs</depend>
-  <depend>pcl_conversions</depend> 
   <depend>pcl_ros</depend>
   <depend>sensor_msgs</depend>
   <depend>std_msgs</depend>