From 8ec4ab004ab17aa94119349c1a2df8559d2c8822 Mon Sep 17 00:00:00 2001
From: HViktorTsoi <cuijiahetony@live.com>
Date: Tue, 18 Jul 2023 19:37:15 +0800
Subject: [PATCH] Fix:numerical type conversion issue in `transformLidar`;
 Remove redundant dependency

---
 CMakeLists.txt       | 2 +-
 src/voxelMapping.cpp | 4 ++--
 2 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 6100754..57702d9 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -72,7 +72,7 @@ find_package(catkin REQUIRED COMPONENTS
 
 find_package(Eigen3 REQUIRED)
 find_package(PCL 1.8 REQUIRED)
-find_package(GTSAM REQUIRED QUIET)
+#find_package(GTSAM REQUIRED QUIET)
 
 message(Eigen: ${EIGEN3_INCLUDE_DIR})
 
diff --git a/src/voxelMapping.cpp b/src/voxelMapping.cpp
index 67a6580..befa0c9 100644
--- a/src/voxelMapping.cpp
+++ b/src/voxelMapping.cpp
@@ -557,8 +557,8 @@ void transformLidar(const state_ikfom &state_point, const PointCloudXYZI::Ptr &i
     for (size_t i = 0; i < input_cloud->size(); i++) {
         pcl::PointXYZINormal p_c = input_cloud->points[i];
         Eigen::Vector3d p_lidar(p_c.x, p_c.y, p_c.z);
-        // FIXME 这里需要处理LI外参
-        auto p_body = state_point.rot * (state_point.offset_R_L_I * p_lidar + state_point.offset_T_L_I) + state_point.pos;
+        // HACK we need to specify p_body as a V3D type!!!
+        V3D p_body = state_point.rot * (state_point.offset_R_L_I * p_lidar + state_point.offset_T_L_I) + state_point.pos;
         PointType pi;
         pi.x = p_body(0);
         pi.y = p_body(1);