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Fixed localMap (map->multimap) build error

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matlabbe
2016-01-07 14:01:00 -05:00
parent ef724530a1
commit e877c543ac
1 changed files with 2 additions and 2 deletions
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src/OdometryROS.cpp
+2 -2
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@@ -365,8 +365,8 @@ void OdometryROS::processData(const SensorData & data, const ros::Time & stamp)
if(odomLocalMap_.getNumSubscribers() && dynamic_cast<OdometryLocalMap*>(odometry_)) if(odomLocalMap_.getNumSubscribers() && dynamic_cast<OdometryLocalMap*>(odometry_))
{ {
pcl::PointCloud<pcl::PointXYZ> cloud; pcl::PointCloud<pcl::PointXYZ> cloud;
const std::map<int, cv::Point3f> & map = ((OdometryLocalMap*)odometry_)->getLocalMap(); const std::multimap<int, cv::Point3f> & map = ((OdometryLocalMap*)odometry_)->getLocalMap();
for(std::map<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.y, iter->second.y, iter->second.z));
} }