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OdomInfo msg: fixed scanLocalMap not correctly transformed before converting to msg

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matlabbe
2018-02-16 21:03:00 -05:00
parent 04b9abd1b9
commit 88b7991e22
1 changed files with 2 additions and 1 deletions
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src/MsgConversion.cpp
+2 -1
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@@ -31,6 +31,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <zlib.h>
#include <ros/ros.h>
#include <rtabmap/core/util3d.h>
#include <rtabmap/core/util3d_transforms.h>
#include <rtabmap/core/util3d_filtering.h>
#include <rtabmap/core/Compression.h>
#include <rtabmap/utilite/UStl.h>
@@ -1010,7 +1011,7 @@ void odomInfoToROS(const rtabmap::OdometryInfo & info, rtabmap_ros::OdomInfo & m
msg.localMapKeys = uKeys(info.localMap);
points3fToROS(uValues(info.localMap), msg.localMapValues);
msg.localScanMap = rtabmap::compressData(info.localScanMap.data());
msg.localScanMap = rtabmap::compressData(rtabmap::util3d::transformLaserScan(info.localScanMap, info.localScanMap.localTransform()).data());
}
cv::Mat userDataFromROS(const rtabmap_ros::UserData & dataMsg)