Fix outdated Livox callback code

Co-authored-by: Zhihuan Hu <[email protected]>
ethz-asl · Aug 29, 2024 · ec57176 · ec57176
1 parent 3f3f0cd
commit ec57176
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Showing 2 changed files with 5 additions and 5 deletions.
diff --git a/interfaces/ros1/wavemap_ros/include/wavemap_ros/inputs/impl/pointcloud_topic_input_impl.h b/interfaces/ros1/wavemap_ros/include/wavemap_ros/inputs/impl/pointcloud_topic_input_impl.h
@@ -17,9 +17,9 @@ bool PointcloudTopicInput::registerCallback(PointcloudTopicType type,
     case PointcloudTopicType::kLivox:
 #ifdef LIVOX_AVAILABLE
       // clang-format off
-      registrar(static_cast<void(PointcloudInput::*)(
+      registrar(static_cast<void(PointcloudTopicInput::*)(
                     const livox_ros_driver2::CustomMsg&)>(
-          &PointcloudInput::callback));
+          &PointcloudTopicInput::callback));
       // clang-format on
       return true;
 #else

diff --git a/interfaces/ros1/wavemap_ros/src/inputs/pointcloud_topic_input.cc b/interfaces/ros1/wavemap_ros/src/inputs/pointcloud_topic_input.cc
@@ -148,7 +148,7 @@ void PointcloudTopicInput::callback(
 }
 
 #ifdef LIVOX_AVAILABLE
-void PointcloudInput::callback(
+void PointcloudTopicInput::callback(
     const livox_ros_driver2::CustomMsg& pointcloud_msg) {
   ProfilerZoneScoped;
   // Skip empty clouds
@@ -165,8 +165,8 @@ void PointcloudInput::callback(
   std::string sensor_frame_id = config_.sensor_frame_id.empty()
                                     ? pointcloud_msg.header.frame_id
                                     : config_.sensor_frame_id;
-  StampedPointcloud stamped_pointcloud{stamp_nsec, std::move(sensor_frame_id),
-                                       pointcloud_msg.points.size()};
+  undistortion::StampedPointcloud stamped_pointcloud{
+      stamp_nsec, std::move(sensor_frame_id), pointcloud_msg.points.size()};
   for (const auto& point : pointcloud_msg.points) {
     stamped_pointcloud.emplace(point.x, point.y, point.z, point.offset_time);
   }