From 302084a06f86747fdeba65a1368e342375957506 Mon Sep 17 00:00:00 2001
From: jvallve <jvallve@iri.upc.edu>
Date: Fri, 5 Aug 2022 13:03:58 +0200
Subject: [PATCH] getCapturesOfType returns already derived pointers

---
 src/processor/processor_loop_closure_icp.cpp | 5 +----
 1 file changed, 1 insertion(+), 4 deletions(-)

diff --git a/src/processor/processor_loop_closure_icp.cpp b/src/processor/processor_loop_closure_icp.cpp
index 09d35ccdf..3877c722f 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)
-- 
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