Fixed constraint between first scans for multilaser systems (#539)

SteveMacenski · Oct 4, 2022 · 67c1127 · 67c1127
1 parent d5cf589
commit 67c1127
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/lib/karto_sdk/src/Mapper.cpp b/lib/karto_sdk/src/Mapper.cpp
@@ -1473,7 +1473,7 @@ void MapperGraph::AddEdges(LocalizedRangeScan * pScan, const Matrix3 & rCovarian
         pScan,
         pSensorManager->GetScans(rCandidateSensorName),
         bestPose, covariance);
-      LinkScans(pScan, pSensorManager->GetScan(rCandidateSensorName, 0), bestPose, covariance);
+      LinkScans(pSensorManager->GetScan(rCandidateSensorName, 0), pScan, bestPose, covariance);
 
       // only add to means and covariances if response was high "enough"
       if (response > m_pMapper->m_pLinkMatchMinimumResponseFine->GetValue()) {