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Fixed last scan drifting in maps created when not optimizing from the last node

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matlabbe
2015-09-23 16:54:10 -04:00
parent d4fe741eb0
commit 624aded6de
1 changed files with 1 additions and 1 deletions
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src/CoreWrapper.cpp
+1 -1
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@@ -1232,7 +1232,7 @@ void CoreWrapper::process(
SensorData tmpData = data; SensorData tmpData = data;
tmpData.setId(-1); tmpData.setId(-1);
tmpSignature.insert(std::make_pair(-1, Signature(-1, -1, 0, data.stamp(), "", odom, tmpData))); tmpSignature.insert(std::make_pair(-1, Signature(-1, -1, 0, data.stamp(), "", odom, tmpData)));
filteredPoses.insert(std::make_pair(-1, odom)); filteredPoses.insert(std::make_pair(-1, rtabmap_.getMapCorrection()*odom));
// Update maps // Update maps
filteredPoses = mapsManager_.updateMapCaches( filteredPoses = mapsManager_.updateMapCaches(