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OdomF2M/Icp: fixed substracting points when normals are not used

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matlabbe
2020-04-09 09:59:22 -04:00
parent c0313a6d09
commit 18ff5bb410
1 changed files with 1 additions and 1 deletions
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2
corelib/src/odometry/OdometryF2M.cpp
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@@ -952,7 +952,7 @@ Transform OdometryF2M::computeTransform(
mapCloudNormals,
pcl::IndicesPtr(new std::vector<int>),
scanSubtractRadius_,
scanSubtractAngle_);
lastFrame_->sensorData().laserScanRaw().hasNormals()&&mapScan.hasNormals()?scanSubtractAngle_:0.0f);
newPoints = frameCloudNormalsIndices->size();
}
else