fix a multiple map merge bug

wfree · May 15, 2018 · 0d28093 · 0d28093
1 parent 3a95302
commit 0d28093
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Showing 2 changed files with 2 additions and 1 deletion.
diff --git a/pose_graph/src/pose_graph.h b/pose_graph/src/pose_graph.h
@@ -204,7 +204,7 @@ struct FourDOFWeightError
 {
 	FourDOFWeightError(double t_x, double t_y, double t_z, double relative_yaw, double pitch_i, double roll_i)
 				  :t_x(t_x), t_y(t_y), t_z(t_z), relative_yaw(relative_yaw), pitch_i(pitch_i), roll_i(roll_i){
-				  	weight = 0.1;
+				  	weight = 1;
 				  }
 
 	template <typename T>

diff --git a/vins_estimator/src/estimator_node.cpp b/vins_estimator/src/estimator_node.cpp
@@ -192,6 +192,7 @@ void restart_callback(const std_msgs::BoolConstPtr &restart_msg)
         estimator.setParameter();
         m_estimator.unlock();
         current_time = -1;
+        last_imu_t = 0;
     }
     return;
 }