From 1765a7a7a083a46e5c3663b0f5b703502f82067d Mon Sep 17 00:00:00 2001
From: matlabbe <matlabbe@gmail.com>
Date: Wed, 13 Nov 2019 17:00:02 -0500
Subject: [PATCH] rtabmap: clear interOdom on reset

---
 src/CoreWrapper.cpp | 1 +
 1 file changed, 1 insertion(+)

diff --git a/src/CoreWrapper.cpp b/src/CoreWrapper.cpp
index fe922c92..61f7b607 100644
--- a/src/CoreWrapper.cpp
+++ b/src/CoreWrapper.cpp
@@ -2459,6 +2459,7 @@ bool CoreWrapper::resetRtabmapCallback(std_srvs::Empty::Request&, std_srvs::Empt
 	userData_ = cv::Mat();
 	userDataMutex_.unlock();
 	imus_.clear();
+	interOdoms_.clear();
 	return true;
 }