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OccupancyGrid: fixed 2d scan not transformed before creating grid

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matlabbe
2016-08-29 16:30:25 -04:00
parent 2fb71445da
commit 6fe7d5a856
1 changed files with 1 additions and 1 deletions
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2
corelib/src/OccupancyGrid.cpp
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@@ -185,7 +185,7 @@ void OccupancyGrid::createLocalMap(const Signature & node, cv::Mat & ground, cv:
UDEBUG("2D laser scan"); UDEBUG("2D laser scan");
//2D //2D
util3d::occupancy2DFromLaserScan( util3d::occupancy2DFromLaserScan(
node.sensorData().laserScanRaw(), util3d::transformLaserScan(node.sensorData().laserScanRaw(), node.sensorData().laserScanInfo().localTransform()),
ground, ground,
obstacles, obstacles,
cellSize_, cellSize_,