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); -- GitLab