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Applying patch for #3550

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git-svn-id: https://code.ros.org/svn/ros-pkg/stacks/laser_pipeline/trunk@26796 eb33c2ac-9c88-4c90-87e0-44a10359b0c3
This commit is contained in:
Jeremy Leibs 2010-01-09 04:52:34 +00:00
parent 671ec17afe
commit 4c6e81b827
1 changed files with 3 additions and 3 deletions
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6
src/laser_geometry.cpp
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@ -252,9 +252,9 @@ const boost::numeric::ublas::matrix<double>& LaserProjection::getUnitVectors_(do
ros::Time start_time = scan_in.header.stamp ; ros::Time start_time = scan_in.header.stamp ;
ros::Time end_time = scan_in.header.stamp + ros::Duration().fromSec(scan_in.get_ranges_size()*scan_in.time_increment) ; ros::Time end_time = scan_in.header.stamp + ros::Duration().fromSec(scan_in.get_ranges_size()*scan_in.time_increment) ;
tf::Stamped<tf::Transform> start_transform ; tf::StampedTransform start_transform ;
tf::Stamped<tf::Transform> end_transform ; tf::StampedTransform end_transform ;
tf::Stamped<tf::Transform> cur_transform ; tf::StampedTransform cur_transform ;
tf.lookupTransform(target_frame, scan_in.header.frame_id, start_time, start_transform) ; tf.lookupTransform(target_frame, scan_in.header.frame_id, start_time, start_transform) ;
tf.lookupTransform(target_frame, scan_in.header.frame_id, end_time, end_transform) ; tf.lookupTransform(target_frame, scan_in.header.frame_id, end_time, end_transform) ;