i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-09-03 01:50:24 +08:00
Code Issues Packages Projects Releases Wiki Activity

OdometryFLOAM: fixed published local scan map local transform

Browse Source
This commit is contained in:
matlabbe
2021-09-30 10:05:56 -04:00
parent 77d947d4fb
commit 467ea42981
1 changed files with 1 additions and 1 deletions
Download Patch File Download Diff File Expand all files Collapse all files

2
corelib/src/odometry/OdometryFLOAM.cpp
View File

@@ -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());
}
}