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Prevent double-transform of prior-session keyframes during map load #23

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Prevent double-transform of prior-session keyframes during map load #23

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927c68e
Initial plan
Copilot Mar 22, 2026
cb2fac0
fix: avoid mutating stored keyframe clouds when loading prior map
Copilot Mar 22, 2026
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5 changes: 3 additions & 2 deletions ms_mapping/src/data_saver.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -1249,6 +1249,7 @@ void DataSaver::ReadPosesAndPointClouds(const std::string &tum_file, const std::
for (size_t index = 0; index < measurements.size(); index++)
{
pcl::PointCloud<pcl::PointXYZI>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZI>());
pcl::PointCloud<pcl::PointXYZI>::Ptr cloud_world(new pcl::PointCloud<pcl::PointXYZI>());
std::string file_name = cloud_directory + std::to_string(index) + ".pcd";
int read = pcl::io::loadPCDFile<pcl::PointXYZI>(file_name, *cloud);
if (read == -1)
Expand All @@ -1265,8 +1266,8 @@ void DataSaver::ReadPosesAndPointClouds(const std::string &tum_file, const std::

Pose3 pose = Pose6dTogtsamPose3(measurements.at(index).updated_pose);
Eigen::Matrix4f transformation = pose.matrix().cast<float>();
transformPointCloud(*cloud, *cloud, transformation);
*globalmap_ptr += *cloud;
transformPointCloud(*cloud, *cloud_world, transformation);
*globalmap_ptr += *cloud_world;
if (index % 1000 == 0)
std::cout << "read pcd: " << file_name << " " << index << std::endl;
}
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