From d89f737cd0b44ccb8bd3d5b475b7c4cc59c2d726 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Joan=20Sol=C3=A0?= <jsola@iri.upc.edu>
Date: Wed, 10 Aug 2022 11:25:48 +0200
Subject: [PATCH] Add downsample params to call to pairAlign
---
src/processor/processor_odom_icp_3d.cpp | 4 +++-
1 file changed, 3 insertions(+), 1 deletion(-)
diff --git a/src/processor/processor_odom_icp_3d.cpp b/src/processor/processor_odom_icp_3d.cpp
index a2cc33ee0..b9275a9a9 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;
};
--
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