diff --git a/src/processor/processor_odom_icp_3d.cpp b/src/processor/processor_odom_icp_3d.cpp
index a2cc33ee0a3c734cad602e4b93e6d64c324cc332..b9275a9a946f7063a0366cc69ca94871f1f781a5 100644
--- a/src/processor/processor_odom_icp_3d.cpp
+++ b/src/processor/processor_odom_icp_3d.cpp
@@ -142,7 +142,9 @@ unsigned int ProcessorOdomIcp3d::processNew(const int& _max_features)
                   incoming_laser_->getPointCloud(),
                   Eigen::Isometry3d::Identity(),
                   T_last_incoming_,
-                  registration_solver_);
+                  registration_solver_,
+                  params_odom_icp_->pcl_downsample,
+                  params_odom_icp_->pcl_downsample_voxel_size);
     }
     return 0;
 };