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Merged master to devel

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matlabbe
2017-06-10 10:34:52 -04:00
parent e321e1bb2c dfc425a7c5
commit fa2199c3ea
12 changed files with 127 additions and 40 deletions
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guilib/src/MainWindow.cpp
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@@ -1733,7 +1733,7 @@ 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);