Sync refactor with ros2 branch

introlab · Jan 8, 2024 · 81e61bb · 81e61bb
1 parent 6d8e65c
commit 81e61bb
Showing 1 changed file with 2 additions and 4 deletions.
diff --git a/rtabmap_util/src/MapsManager.cpp b/rtabmap_util/src/MapsManager.cpp
@@ -630,8 +630,7 @@ std::map<int, rtabmap::Transform> MapsManager::updateMapCaches(
 						}
 						else
 						{
-							viewPoint = data.gridViewPoint();
-							localMaps_.add(iter->first, ground, obstacles, emptyCells, localMapMaker_->getCellSize(), viewPoint);
+							localMaps_.add(iter->first, ground, obstacles, emptyCells, data.gridCellSize(), data.gridViewPoint());
 						}
 					}
 					else
@@ -669,8 +668,7 @@ std::map<int, rtabmap::Transform> MapsManager::updateMapCaches(
 						}
 						else
 						{
-							viewPoint = data.gridViewPoint();
-							localMaps_.add(iter->first, ground, obstacles, emptyCells, localMapMaker_->getCellSize(), viewPoint);
+							localMaps_.add(iter->first, ground, obstacles, emptyCells, data.gridCellSize(), data.gridViewPoint());
 						}
 
 						// put back