fix typos

Author: jlblancoc

demos/sm2mm_no_decim_imu.yaml

@@ -4,8 +4,7 @@
 # See: https://github.com/MOLAorg/mp2p_icp/tree/develop/apps/sm2mm
 #
 # Explanation of this particular pipeline:
-#  - Generators: empty, so the default generator is used (everything in one
-#                layer named 'raw' with all points).
+#  - Generators: default generator is used (creates an 'raw' layer).
 #  - Filters: Deskew using IMU, remove close points.
 #  - Final filters: intensity normalization.
 # -----------------------------------------------------------------------------

demos/sm2mm_no_decim_imu_mls.yaml

@@ -4,8 +4,7 @@
 # See: https://github.com/MOLAorg/mp2p_icp/tree/develop/apps/sm2mm
 #
 # Explanation of this particular pipeline:
-#  - Generators: empty, so the default generator is used (everything in one
-#                layer named 'raw' with all points).
+#  - Generators: default generator is used (creates an 'raw' layer).
 #  - Filters: Deskew using IMU, remove close points.
 #  - Final filters: intensity normalization, MLS filtering.
 # -----------------------------------------------------------------------------

demos/sm2mm_pointcloud_voxelize.yaml

@@ -4,8 +4,7 @@
 # See: https://github.com/MOLAorg/mp2p_icp/tree/develop/apps/sm2mm
 #
 # Explanation of this particular pipeline:
-#  - Generators: empty, so the default generator is used (everything in one
-#                layer named 'raw' with all points).
+#  - Generators: default generator is used (creates an 'raw' layer).
 #  - Filters: Just one downsampling filter, with an additional removal of close
 #             points (e.g. the robot body)
 # -----------------------------------------------------------------------------

demos/sm2mm_pointcloud_voxelize_no_deskew.yaml

@@ -4,8 +4,7 @@
 # See: https://github.com/MOLAorg/mp2p_icp/tree/develop/apps/sm2mm
 #
 # Explanation of this particular pipeline:
-#  - Generators: empty, so the default generator is used (everything in one
-#                layer named 'raw' with all points).
+#  - Generators: default generator is used (creates an 'raw' layer).
 #  - Filters: Just one downsampling filter, with an additional removal of close
 #             points (e.g. the robot body)
 # -----------------------------------------------------------------------------

mp2p_icp_filters/src/Generator.cpp

@@ -354,10 +354,10 @@ bool Generator::filterPointCloud(  //
 
             outPc = std::dynamic_pointer_cast<mrpt::maps::CPointsMap>(obj);
             ASSERTMSG_(
-                obj, mrpt::format(
-                         "Error creating class of type '%s': it does not seem to be derived from "
-                         "CPointsMap as expected.",
-                         params.default_pointcloud_class.c_str()));
+                outPc, mrpt::format(
+                           "Error creating class of type '%s': it does not seem to be derived from "
+                           "CPointsMap as expected.",
+                           params.default_pointcloud_class.c_str()));
         }
         ASSERT_(outPc);