From 95a76cb696727241125bad6b256f6ee1580815a4 Mon Sep 17 00:00:00 2001
From: matlabbe <matlabbe@gmail.com>
Date: Mon, 19 Sep 2022 12:23:18 -0700
Subject: [PATCH] gui: fixed wrongly showing landmark rejected when it was not
 (because a loop closure was rejected at the same time)

---
 corelib/src/Rtabmap.cpp   | 1 +
 guilib/src/MainWindow.cpp | 1 +
 2 files changed, 2 insertions(+)

diff --git a/corelib/src/Rtabmap.cpp b/corelib/src/Rtabmap.cpp
index 922b70be..b7ae35a0 100644
--- a/corelib/src/Rtabmap.cpp
+++ b/corelib/src/Rtabmap.cpp
@@ -2907,6 +2907,7 @@ bool Rtabmap::process(
 				{
 					UINFO("Landmark %d observed again! Seen the first time by node %d.", -iter->first, *_memory->getLandmarksIndex().find(iter->first)->second.begin());
 					landmarksDetected.insert(std::make_pair(iter->first, _memory->getLandmarksIndex().find(iter->first)->second));
+					rejectedGlobalLoopClosure = false; // If it was true, it will be set back to false if landmarks are rejected on graph optimization
 				}
 			}
 		}
diff --git a/guilib/src/MainWindow.cpp b/guilib/src/MainWindow.cpp
index eb6a4e25..b68b331f 100644
--- a/guilib/src/MainWindow.cpp
+++ b/guilib/src/MainWindow.cpp
@@ -2103,6 +2103,7 @@ void MainWindow::processStats(const rtabmap::Statistics & stat)
 				}
 				else if(landmarkId!=0)
 				{
+					highestHypothesisId = landmarkNodeRef;
 					if(rejectedHyp)
 					{
 						show = _preferencesDialog->imageRejectedShown();