fix: set correct frameid to transformed_cloud (tier4#734)

Signed-off-by: suchang <chang.su@autocore.ai> Co-authored-by: suchang <chang.su@autocore.ai>
boyali · Sep 28, 2022 · f01e3ab · f01e3ab
1 parent c518dfe
commit f01e3ab
Showing 1 changed file with 1 addition and 0 deletions.
diff --git a/perception/lidar_apollo_instance_segmentation/src/detector.cpp b/perception/lidar_apollo_instance_segmentation/src/detector.cpp
@@ -103,6 +103,7 @@ bool LidarApolloInstanceSegmentation::transformCloud(
         tf2::transformToEigen(transform_stamped.transform).matrix().cast<float>();
       pcl::transformPointCloud(pcl_input, pcl_transformed_cloud, affine_matrix);
       transformed_cloud.header.frame_id = target_frame_;
+      pcl_transformed_cloud.header.frame_id = target_frame_;
     } catch (tf2::TransformException & ex) {
       RCLCPP_WARN(node_->get_logger(), "%s", ex.what());
       return false;