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Fixed OdomF2M ICP local scan transform bug (was not in 0.11.8)

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matlabbe
2016-11-03 17:27:01 -04:00
parent a7971373a6
commit fe19d277ac
2 changed files with 3 additions and 3 deletions
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corelib/src/OdometryF2F.cpp
+1 -1
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@@ -133,7 +133,7 @@ Transform OdometryF2F::computeTransform(
info->words = newFrame.getWords();
info->localScanMapSize = tmpRefFrame.sensorData().laserScanRaw().cols;
info->localScanMap = util3d::transformLaserScan(tmpRefFrame.sensorData().laserScanRaw(), tmpRefFrame.sensorData().laserScanInfo().localTransform()*t);
info->localScanMap = util3d::transformLaserScan(tmpRefFrame.sensorData().laserScanRaw(), t*tmpRefFrame.sensorData().laserScanInfo().localTransform());
}
}
else