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MainWindow: fixed localization pose reset to latest pose in map when lost (localization mode)

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matlabbe
2017-05-23 12:00:33 -04:00
parent 48ba55d02c
commit 87a5f69335
1 changed files with 1 additions and 1 deletions
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guilib/src/MainWindow.cpp
+1 -1
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@@ -1716,7 +1716,7 @@ void MainWindow::processStats(const rtabmap::Statistics & stat)
Transform groundTruthOffset = alignPosesToGroundTruth(poses, groundTruth, stat.stamp(), stat.refImageId());
UDEBUG("time= %d ms", time.restart());
if(!_odometryReceived && poses.size())
if(!_odometryReceived && poses.size() && poses.rbegin()->first == stat.refImageId())
{
_cloudViewer->updateCameraTargetPosition(poses.rbegin()->second);