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Commit 302084a0 authored by Joan Vallvé Navarro's avatar Joan Vallvé Navarro
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getCapturesOfType returns already derived pointers

parent 1349f681
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1 merge request!41Draft: Resolve "New branch laser 3d"
......@@ -85,11 +85,8 @@ std::map<double,MatchLoopClosurePtr> ProcessorLoopClosureIcp::findLoopClosures(C
// Frame can have more than one laser capture
for (auto cap_ref : frm->getCapturesOfType<CaptureLaser2d>())
{
auto cap_ref_laser = std::dynamic_pointer_cast<CaptureLaser2d>(cap_ref);
assert(cap_ref_laser != nullptr);
// Match Scans
auto match = matchScans(cap_ref_laser, cap_laser);
auto match = matchScans(cap_ref, cap_laser);
// IT'S A MATCH!
if (match != nullptr)
......
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