diff --git a/src/processor/processor_loop_closure_icp.cpp b/src/processor/processor_loop_closure_icp.cpp index 09d35ccdf3fcc2eb75ced42a97da1d4844b798db..3877c722fd75ac1af83aab812cd42a4906a9d3f9 100644 --- a/src/processor/processor_loop_closure_icp.cpp +++ b/src/processor/processor_loop_closure_icp.cpp @@ -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)