From 1035f1b448707c905ddf2a17d80b528210e50149 Mon Sep 17 00:00:00 2001 From: Kehan Xue Date: Fri, 15 Jul 2022 20:09:28 +0800 Subject: [PATCH] Fix bug in visualize constraint edges. --- src/loop_closure_assistant.cpp | 5 ++--- 1 file changed, 2 insertions(+), 3 deletions(-) diff --git a/src/loop_closure_assistant.cpp b/src/loop_closure_assistant.cpp index 36f51fa2..12dd5d47 100644 --- a/src/loop_closure_assistant.cpp +++ b/src/loop_closure_assistant.cpp @@ -244,15 +244,14 @@ void LoopClosureAssistant::publishGraph() if (source_id >= first_localization_id || target_id >= first_localization_id) { localization_edges_marker.points.push_back(p0); localization_edges_marker.points.push_back(p1); + marray.markers.push_back(localization_edges_marker); } else { edges_marker.points.push_back(p0); edges_marker.points.push_back(p1); + marray.markers.push_back(edges_marker); } } - marray.markers.push_back(edges_marker); - marray.markers.push_back(localization_edges_marker); - // if disabled, clears out old markers interactive_server_->applyChanges(); marker_publisher_->publish(marray);