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OdometryFLOAM: fixed published local scan map local transform

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matlabbe
2021-09-30 10:05:56 -04:00
parent 77d947d4fb
commit 467ea42981
1 changed files with 1 additions and 1 deletions
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2
corelib/src/odometry/OdometryFLOAM.cpp
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@@ -178,7 +178,7 @@ Transform OdometryFLOAM::computeTransform(
pcl::PointCloud<pcl::PointXYZI>::Ptr localMap(new pcl::PointCloud<pcl::PointXYZI>());
odomEstimation_->getMap(localMap);
info->localScanMapSize = localMap->size();
info->localScanMap = LaserScan(util3d::laserScanFromPointCloud(*localMap), 0, data.laserScanRaw().rangeMax());
info->localScanMap = LaserScan(util3d::laserScanFromPointCloud(*localMap), 0, data.laserScanRaw().rangeMax(), data.laserScanRaw().localTransform());
UDEBUG("Fill info data: %fs", timer.ticks());
}
}