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Fixed bug where odom's local map appeared in 2D

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matlabbe
2016-01-12 14:22:15 -05:00
parent 76eb994d0c
commit 5793430009
1 changed files with 1 additions and 1 deletions
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src/OdometryROS.cpp
+1 -1
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@@ -368,7 +368,7 @@ void OdometryROS::processData(const SensorData & data, const ros::Time & stamp)
const std::multimap<int, cv::Point3f> & map = ((OdometryLocalMap*)odometry_)->getLocalMap(); const std::multimap<int, cv::Point3f> & map = ((OdometryLocalMap*)odometry_)->getLocalMap();
for(std::multimap<int, cv::Point3f>::const_iterator iter=map.begin(); iter!=map.end(); ++iter) for(std::multimap<int, cv::Point3f>::const_iterator iter=map.begin(); iter!=map.end(); ++iter)
{ {
cloud.push_back(pcl::PointXYZ(iter->second.y, iter->second.y, iter->second.z)); cloud.push_back(pcl::PointXYZ(iter->second.x, iter->second.y, iter->second.z));
} }
sensor_msgs::PointCloud2 cloudMsg; sensor_msgs::PointCloud2 cloudMsg;
pcl::toROSMsg(cloud, cloudMsg); pcl::toROSMsg(cloud, cloudMsg);