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Localization: Revert mapCorrection transform to one before being lost (when odom can be computed again)

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matlabbe
2016-12-05 15:16:04 -05:00
parent e5524ddc1d
commit cd62e67011
3 changed files with 17 additions and 1 deletions
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corelib/include/rtabmap/core/Rtabmap.h
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@@ -252,6 +252,7 @@ private:
std::map<int, Transform> _optimizedPoses;
std::multimap<int, Link> _constraints;
Transform _mapCorrection;
Transform _mapCorrectionBackup; // used in localization mode when odom is lost
Transform _lastLocalizationPose; // Corrected odometry pose. In mapping mode, this corresponds to last pose return by getLocalOptimizedPoses().
int _lastLocalizationNodeId; // for localization mode