From 6e0081e24810b931760a3b290ba91964befbdbf7 Mon Sep 17 00:00:00 2001
From: matlabbe <matlabbe@gmail.com>
Date: Thu, 28 May 2020 14:04:10 -0400
Subject: [PATCH] MainWindow: made mynteye action checkable.

---
 corelib/src/Rtabmap.cpp     | 2 +-
 guilib/src/ui/mainWindow.ui | 3 +++
 2 files changed, 4 insertions(+), 1 deletion(-)

diff --git a/corelib/src/Rtabmap.cpp b/corelib/src/Rtabmap.cpp
index 7c5614db..f2a026ea 100644
--- a/corelib/src/Rtabmap.cpp
+++ b/corelib/src/Rtabmap.cpp
@@ -2876,7 +2876,7 @@ bool Rtabmap::process(
 			// if _optimizeFromGraphEnd parameter just changed state, don't use optimized poses as guess
 			float normMapCorrection = _mapCorrection.getNormSquared(); // use distance for identity detection
 			if((normMapCorrection > 0.001f && _optimizeFromGraphEnd) ||
-				(normMapCorrection < 0.0001f && !_optimizeFromGraphEnd))
+				(normMapCorrection < 0.001f && !_optimizeFromGraphEnd))
 			{
 				for(std::multimap<int, Link>::iterator iter=_constraints.begin(); iter!=_constraints.end(); ++iter)
 				{
diff --git a/guilib/src/ui/mainWindow.ui b/guilib/src/ui/mainWindow.ui
index 145a0d66..f0c3203b 100644
--- a/guilib/src/ui/mainWindow.ui
+++ b/guilib/src/ui/mainWindow.ui
@@ -1610,6 +1610,9 @@
    </property>
   </action>
   <action name="actionMYNT_EYE_S_SDK">
+   <property name="checkable">
+    <bool>true</bool>
+   </property>
    <property name="text">
     <string>MYNT EYE S SDK</string>
    </property>