diff --git a/src/processor/processor_odom_icp.cpp b/src/processor/processor_odom_icp.cpp index caecbc842aed8f87dbcb9ac2a129cf1da42e2933..5098018960752bd65352baacfadc76fd5df42f3d 100644 --- a/src/processor/processor_odom_icp.cpp +++ b/src/processor/processor_odom_icp.cpp @@ -40,11 +40,11 @@ unsigned int ProcessorOdomICP::processKnown() CaptureLaser2DPtr origin_ptr = std::static_pointer_cast<CaptureLaser2D>(origin_ptr_); CaptureLaser2DPtr incoming_ptr = std::static_pointer_cast<CaptureLaser2D>(incoming_ptr_); - trf_origin_incoming_ = icp_tools_ptr_->matchPC(incoming_ptr->getScan(), - origin_ptr->getScan(), - this->laser_scan_params_, - this->icp_params_, - this->trf_origin_last_.res_transf); // Check order + trf_origin_incoming_ = icp_tools_ptr_->align(incoming_ptr->getScan(), + origin_ptr->getScan(), + this->laser_scan_params_, + this->icp_params_, + this->trf_origin_last_.res_transf); // Check order } return 0; @@ -59,11 +59,11 @@ unsigned int ProcessorOdomICP::processNew(const int& _max_features) CaptureLaser2DPtr incoming_ptr = std::static_pointer_cast<CaptureLaser2D>(incoming_ptr_); CaptureLaser2DPtr last_ptr = std::static_pointer_cast<CaptureLaser2D>(last_ptr_); - trf_last_incoming_ = icp_tools_ptr_->matchPC(incoming_ptr->getScan(), - last_ptr->getScan(), - this->laser_scan_params_, - this->icp_params_, - t_identity); + trf_last_incoming_ = icp_tools_ptr_->align(incoming_ptr->getScan(), + last_ptr->getScan(), + this->laser_scan_params_, + this->icp_params_, + t_identity); return 0; }