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Fixed build with LOAM dependency

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matlabbe
2021-07-14 13:22:47 -04:00
parent 7338cb8a85
commit ae92ec40d7
1 changed files with 1 additions and 1 deletions
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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); Transform rot(0,0,1,0,1,0,0,0,0,1,0,0);
pcl::PointCloud<pcl::PointXYZI> out; pcl::PointCloud<pcl::PointXYZI> out;
pcl::transformPointCloud(laserMapping_->laserCloudSurroundDS(), out, rot.toEigen3f()); pcl::transformPointCloud(laserMapping_->laserCloudSurroundDS(), out, rot.toEigen3f());
info->localScanMap = LaserScan::backwardCompatibility(util3d::laserScanFromPointCloud(out), 0, data.laserScanRaw().rangeMax(), data.laserScanRaw().localTransform()); info->localScanMap = LaserScan(util3d::laserScanFromPointCloud(out), 0, data.laserScanRaw().rangeMax(), data.laserScanRaw().localTransform());
} }
} }
} }