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OdometryF2F: fixed published localScanMap in wrong frame

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matlabbe
2018-03-13 00:01:32 -04:00
parent ba011169b8
commit 257fe20c4f
2 changed files with 5 additions and 4 deletions
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3
corelib/src/OdometryF2F.cpp
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@@ -207,7 +207,8 @@ Transform OdometryF2F::computeTransform(
info->words = newFrame.getWords();
info->localScanMapSize = tmpRefFrame.sensorData().laserScanRaw().size();
info->localScanMap = util3d::transformLaserScan(tmpRefFrame.sensorData().laserScanRaw(), t);
info->localScanMap = util3d::transformLaserScan(tmpRefFrame.sensorData().laserScanRaw(), tmpRefFrame.sensorData().laserScanRaw().localTransform().inverse()*t*tmpRefFrame.sensorData().laserScanRaw().localTransform());
}
}
else