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Odom: reset buffered guess only after when we recovered from being lost

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matlabbe
2020-04-26 23:28:13 -04:00
parent dff012718e
commit f034bf4e91
1 changed files with 1 additions and 1 deletions
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src/OdometryROS.cpp
+1 -1
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@@ -630,9 +630,9 @@ void OdometryROS::processData(const SensorData & data, const ros::Time & stamp)
dataCpy.setGroundTruth(groundTruth); dataCpy.setGroundTruth(groundTruth);
} }
rtabmap::Transform pose = odometry_->process(dataCpy, guess_, &info); rtabmap::Transform pose = odometry_->process(dataCpy, guess_, &info);
guess_.setNull();
if(!pose.isNull()) if(!pose.isNull())
{ {
guess_.setNull();
resetCurrentCount_ = resetCountdown_; resetCurrentCount_ = resetCountdown_;
//********************* //*********************