uncommented

ndt_calibration/src/ndt_calib_online_node.cpp

@@ -361,13 +361,13 @@ public:
     ROS_INFO_STREAM("Optimize time : " << objective_type_.optimizeTime());
 
     double delta_sensor_time_offset = 0.;
-    //opt.interpPairPoses(delta_sensor_time_offset); // We already moved the interpolation points while adding the clouds to the pairs, the sensortime reported will be the provided on added with the output.
+    opt.interpPairPoses(delta_sensor_time_offset); // We already moved the interpolation points while adding the clouds to the pairs, the sensortime reported will be the provided on added with the output.
 
     ROS_INFO_STREAM("initial sensor pose est : " << affine3dToString(Ts) << " dt : " << sensor_offset_t_+delta_sensor_time_offset << " error : " << opt.getScore6d(Ts));
     if (calib_) {
       ROS_INFO_STREAM("starting calibration, using score type : " << score_type_);
       opt.calibrate(Ts, delta_sensor_time_offset);
-     // opt.interpPairPoses(delta_sensor_time_offset);
+      opt.interpPairPoses(delta_sensor_time_offset);
       std::cout << " new sensor pose est : " << affine3dToString(Ts) << " dt : " << sensor_offset_t_+delta_sensor_time_offset << " error : " << opt.getScore6d(Ts) << std::endl;
     }