diff --git a/src/publisher_pose.cpp b/src/publisher_pose.cpp index 5750bd0b881afdbb9adbb41eca33013efe5d0960..7d4a6d4695df29a2f0e9459c2a7a1f6b6555dac4 100644 --- a/src/publisher_pose.cpp +++ b/src/publisher_pose.cpp @@ -135,7 +135,7 @@ void PublisherPose::publishDerived() // Covariance Eigen::MatrixXd cov(6,6); - auto KF = problem_->getLastKeyFrame(); + auto KF = problem_->getLastFrame(); bool success(true); success = success && problem_->getCovarianceBlock(KF->getP(), KF->getP(), cov, 0, 0); success = success && problem_->getCovarianceBlock(KF->getP(), KF->getO(), cov, 0, 3);