diff --git a/src/processor/processor_closeloop_icp.cpp b/src/processor/processor_closeloop_icp.cpp index 3d19ea46f80b561b6394f82688a18a85827fe63e..816fe62ffa0b7c2007d8cf10da8438228ed655fe 100644 --- a/src/processor/processor_closeloop_icp.cpp +++ b/src/processor/processor_closeloop_icp.cpp @@ -159,13 +159,13 @@ std::map<Scalar, CapturesAligned> ProcessorCloseLoopICP::evaluateCandidates(Fram for(const auto& capture_own : _keyframe_own->getCaptureList()) { WOLF_INFO("CAPTURE TYPE OWN", capture_own->getType()); - if(capture_own->getType() == "LASER 2D") + if(capture_own->getType() == "CaptureLaser2D") { CaptureLaser2DPtr capture_laser_own = std::static_pointer_cast<wolf::CaptureLaser2D>(capture_own); WOLF_INFO("CANDIDATES SIZE ", _keyframe_candidates.size()); for (const auto &_keyframe_other : _keyframe_candidates) for (const auto &capture_other : _keyframe_other->getCaptureList()) { - if (capture_other->getType() == "LASER 2D") { + if (capture_other->getType() == "CaptureLaser2D") { CaptureLaser2DPtr capture_laser_other = std::static_pointer_cast<wolf::CaptureLaser2D>(capture_other); // Initial guess for alignment @@ -237,4 +237,4 @@ FactorBasePtr ProcessorCloseLoopICP::emplaceFeatureAndFactor(CapturesAligned &_c namespace wolf { WOLF_REGISTER_PROCESSOR("ProcessorCloseloopIcp", ProcessorCloseLoopICP) WOLF_REGISTER_PROCESSOR_AUTO("ProcessorCloseloopIcp", ProcessorCloseLoopICP) -} /* namespace wolf */ \ No newline at end of file +} /* namespace wolf */