calibration: read all intensities as float, then convert (ros-drivers#84

)
CPFL · Mar 21, 2016 · 9a5d583 · 9a5d583
1 parent c3e5178
commit 9a5d583
Showing 1 changed file with 6 additions and 16 deletions.
diff --git a/velodyne_pointcloud/src/lib/calibration.cc b/velodyne_pointcloud/src/lib/calibration.cc
@@ -96,14 +96,9 @@ namespace velodyne_pointcloud
       max_intensity_node = pName;
 #endif
     if (max_intensity_node) {
-      try {
-        *max_intensity_node >> correction.second.max_intensity;
-      } catch(const YAML::InvalidScalar & exc) {
-        float max_intensity_float;
-        *max_intensity_node >> max_intensity_float;
-        correction.second.max_intensity = floor(max_intensity_float);
-        ROS_WARN_ONCE("Implicitly converting 'max_intensity' values from floats to ints.");
-      }
+      float max_intensity_float;
+      *max_intensity_node >> max_intensity_float;
+      correction.second.max_intensity = floor(max_intensity_float);
     }
     else {
       correction.second.max_intensity = 255;
@@ -120,14 +115,9 @@ namespace velodyne_pointcloud
       min_intensity_node = pName;
 #endif
     if (min_intensity_node) {
-      try {
-        *min_intensity_node >> correction.second.min_intensity;
-      } catch(const YAML::InvalidScalar & exc) {
-        float min_intensity_float;
-        *min_intensity_node >> min_intensity_float;
-        correction.second.min_intensity = floor(min_intensity_float);
-        ROS_WARN_ONCE("Implicitly converting 'min_intensity' values from floats to ints.");
-      }
+      float min_intensity_float;
+      *min_intensity_node >> min_intensity_float;
+      correction.second.min_intensity = floor(min_intensity_float);
     }
     else {
       correction.second.min_intensity = 0;