From e3575008017a9d6d93a1cc80c520b2f47706052e Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Joan=20Vallv=C3=A9=20Navarro?= <jvallve@iri.upc.edu>
Date: Tue, 29 Sep 2020 14:25:01 +0200
Subject: [PATCH] new api getLastFrame()

---
 src/publisher_pose.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/publisher_pose.cpp b/src/publisher_pose.cpp
index 5750bd0..7d4a6d4 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);
-- 
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