diff --git a/src/laser_geometry.cpp b/src/laser_geometry.cpp
index f6d38f4..294bb13 100644
--- a/src/laser_geometry.cpp
+++ b/src/laser_geometry.cpp
@@ -463,6 +463,15 @@ void LaserProjection::transformLaserScanToPointCloud_(
   tf3::Vector3 origin_end(end_transform.transform.translation.x,
     end_transform.transform.translation.y,
     end_transform.transform.translation.z);
+
+  if(target_frame == scan_in.header.frame_id)
+  {
+    quat_start = tf3::Quaternion(0, 0, 0, 1);
+    quat_end = tf3::Quaternion(0, 0, 0, 1);
+    origin_start = tf3::Vector3(0, 0, 0);
+    origin_end = tf3::Vector3( 0, 0, 0);
+  }
+  
   transformLaserScanToPointCloud_(
     target_frame, scan_in, cloud_out,
     quat_start, origin_start,