From e1b5ee13fbeaad2f7085e93e5b31a48eed9d9cc8 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Joan=20Sol=C3=A0?= <jsola@iri.upc.edu>
Date: Wed, 7 Aug 2019 14:10:42 +0200
Subject: [PATCH] Use align instead of matchPC

---
 src/processor/processor_odom_icp.cpp | 20 ++++++++++----------
 1 file changed, 10 insertions(+), 10 deletions(-)

diff --git a/src/processor/processor_odom_icp.cpp b/src/processor/processor_odom_icp.cpp
index caecbc842..509801896 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;
 }
 
-- 
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