From 81e61bb4b6be1f88f783ebe33a323bc02e025ea9 Mon Sep 17 00:00:00 2001
From: matlabbe <matlabbe@gmail.com>
Date: Sun, 7 Jan 2024 18:42:07 -0800
Subject: [PATCH] Sync refactor with ros2 branch

---
 rtabmap_util/src/MapsManager.cpp | 6 ++----
 1 file changed, 2 insertions(+), 4 deletions(-)

diff --git a/rtabmap_util/src/MapsManager.cpp b/rtabmap_util/src/MapsManager.cpp
index 9beae049..614b5f80 100644
--- a/rtabmap_util/src/MapsManager.cpp
+++ b/rtabmap_util/src/MapsManager.cpp
@@ -630,8 +630,7 @@ std::map<int, rtabmap::Transform> MapsManager::updateMapCaches(
 						}
 						else
 						{
-							viewPoint = data.gridViewPoint();
-							localMaps_.add(iter->first, ground, obstacles, emptyCells, localMapMaker_->getCellSize(), viewPoint);
+							localMaps_.add(iter->first, ground, obstacles, emptyCells, data.gridCellSize(), data.gridViewPoint());
 						}
 					}
 					else
@@ -669,8 +668,7 @@ std::map<int, rtabmap::Transform> MapsManager::updateMapCaches(
 						}
 						else
 						{
-							viewPoint = data.gridViewPoint();
-							localMaps_.add(iter->first, ground, obstacles, emptyCells, localMapMaker_->getCellSize(), viewPoint);
+							localMaps_.add(iter->first, ground, obstacles, emptyCells, data.gridCellSize(), data.gridViewPoint());
 						}
 
 						// put back