diff --git a/guilib/src/MainWindow.cpp b/guilib/src/MainWindow.cpp
index 34e1083d..889a4805 100644
--- a/guilib/src/MainWindow.cpp
+++ b/guilib/src/MainWindow.cpp
@@ -3198,45 +3198,44 @@ Transform MainWindow::alignPosesToGroundTruth(
 
 void MainWindow::updateNodeVisibility(int nodeId, bool visible)
 {
-	if(_currentPosesMap.find(nodeId) != _currentPosesMap.end())
+	UINFO("Update visibility %d", nodeId);
+	QMap<std::string, Transform> viewerClouds = _cloudViewer->getAddedClouds();
+	if(_preferencesDialog->isCloudsShown(0))
 	{
-		QMap<std::string, Transform> viewerClouds = _cloudViewer->getAddedClouds();
-		if(_preferencesDialog->isCloudsShown(0))
+		std::string cloudName = uFormat("cloud%d", nodeId);
+		if(visible && !viewerClouds.contains(cloudName) && _cachedSignatures.contains(nodeId) && _currentPosesMap.find(nodeId) != _currentPosesMap.end())
 		{
-			std::string cloudName = uFormat("cloud%d", nodeId);
-			if(visible && !viewerClouds.contains(cloudName) && _cachedSignatures.contains(nodeId))
-			{
-				createAndAddCloudToMap(nodeId, _currentPosesMap.find(nodeId)->second, uValue(_currentMapIds, nodeId, -1));
-			}
-			else if(viewerClouds.contains(cloudName))
-			{
-				if(visible)
-				{
-					//make sure the transformation was done
-					_cloudViewer->updateCloudPose(cloudName, _currentPosesMap.find(nodeId)->second);
-				}
-				_cloudViewer->setCloudVisibility(cloudName, visible);
-			}
+			createAndAddCloudToMap(nodeId, _currentPosesMap.find(nodeId)->second, uValue(_currentMapIds, nodeId, -1));
 		}
-
-		if(_preferencesDialog->isScansShown(0))
+		else if(viewerClouds.contains(cloudName))
 		{
-			std::string scanName = uFormat("scan%d", nodeId);
-			if(visible && !viewerClouds.contains(scanName) && _cachedSignatures.contains(nodeId))
+			if(visible && _currentPosesMap.find(nodeId) != _currentPosesMap.end())
 			{
-				createAndAddScanToMap(nodeId, _currentPosesMap.find(nodeId)->second, uValue(_currentMapIds, nodeId, -1));
-			}
-			else if(viewerClouds.contains(scanName))
-			{
-				if(visible)
-				{
-					//make sure the transformation was done
-					_cloudViewer->updateCloudPose(scanName, _currentPosesMap.find(nodeId)->second);
-				}
-				_cloudViewer->setCloudVisibility(scanName, visible);
+				//make sure the transformation was done
+				_cloudViewer->updateCloudPose(cloudName, _currentPosesMap.find(nodeId)->second);
 			}
+			_cloudViewer->setCloudVisibility(cloudName, visible);
 		}
 	}
+
+	if(_preferencesDialog->isScansShown(0))
+	{
+		std::string scanName = uFormat("scan%d", nodeId);
+		if(visible && !viewerClouds.contains(scanName) && _cachedSignatures.contains(nodeId) && _currentPosesMap.find(nodeId) != _currentPosesMap.end())
+		{
+			createAndAddScanToMap(nodeId, _currentPosesMap.find(nodeId)->second, uValue(_currentMapIds, nodeId, -1));
+		}
+		else if(viewerClouds.contains(scanName))
+		{
+			if(visible && _currentPosesMap.find(nodeId) != _currentPosesMap.end())
+			{
+				//make sure the transformation was done
+				_cloudViewer->updateCloudPose(scanName, _currentPosesMap.find(nodeId)->second);
+			}
+			_cloudViewer->setCloudVisibility(scanName, visible);
+		}
+	}
+
 	_cloudViewer->update();
 }
 
@@ -5909,8 +5908,6 @@ void MainWindow::exportGridMap()
 		return;
 	}
 
-	std::map<int, Transform> poses = _ui->widget_mapVisibility->getVisiblePoses();
-
 	// create the map
 	float xMin=0.0f, yMin=0.0f;
 	cv::Mat pixels;
diff --git a/guilib/src/MapVisibilityWidget.cpp b/guilib/src/MapVisibilityWidget.cpp
index 98ac45ec..5cc01486 100644
--- a/guilib/src/MapVisibilityWidget.cpp
+++ b/guilib/src/MapVisibilityWidget.cpp
@@ -115,7 +115,7 @@ std::map<int, Transform> MapVisibilityWidget::getVisiblePoses() const
 	std::map<int, Transform> poses;
 	for(std::map<int, Transform>::const_iterator iter=_poses.begin(); iter!=_poses.end(); ++iter)
 	{
-		if(_mask.at(iter->first))
+		if(_mask.at(iter->first) && iter->first > 0)
 		{
 			poses.insert(*iter);
 		}