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fixed #333

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matlabbe
2018-11-08 10:52:12 -05:00
parent 0c4a91df8a
commit 433e20869c
1 changed files with 1 additions and 1 deletions
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2
corelib/src/odometry/OdometryLOAM.cpp
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@@ -283,7 +283,7 @@ Transform OdometryLOAM::computeTransform(
Transform rot(0,0,1,0,1,0,0,0,0,1,0,0);
pcl::PointCloud<pcl::PointXYZI> out;
pcl::transformPointCloud(laserMapping_->laserCloudSurroundDS(), out, rot.toEigen3f());
info->localScanMap = LaserScan::backwardCompatibility(util3d::laserScanFromPointCloud(out), 0, data.laserScanRaw().maxRange(), data.laserScanRaw().localTransform());
info->localScanMap = LaserScan::backwardCompatibility(util3d::laserScanFromPointCloud(out), 0, data.laserScanRaw().rangeMax(), data.laserScanRaw().localTransform());
}
}
}