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fix(posegraph): Resolve segfault in loop closure visualization #78

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fix(posegraph): Resolve segfault in loop closure visualization #78

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3 changes: 2 additions & 1 deletion ros/src/slam/pose_graph_manager.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -382,9 +382,10 @@ void PoseGraphManager::performRegistration() {
loop_idx_pair_queue_.pop();

const RegOutput &reg_output = loop_closure_->performLoopClosure(keyframes_, query_idx, match_idx);
need_lc_cloud_vis_update_ = true;
//need_lc_cloud_vis_update_ = true;

if (reg_output.is_valid_) {
need_lc_cloud_vis_update_ = true;
RCLCPP_INFO(this->get_logger(), "LC accepted. Overlapness: %.3f", reg_output.overlapness_);
gtsam::Pose3 pose_from = eigenToGtsam(reg_output.pose_ * keyframes_[query_idx].pose_corrected_);
gtsam::Pose3 pose_to = eigenToGtsam(keyframes_[match_idx].pose_corrected_);
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