diff --git a/calibrators/mapping_based_calibrator/src/calibration_mapper.cpp b/calibrators/mapping_based_calibrator/src/calibration_mapper.cpp index b0b58501..5b93f129 100644 --- a/calibrators/mapping_based_calibrator/src/calibration_mapper.cpp +++ b/calibrators/mapping_based_calibrator/src/calibration_mapper.cpp @@ -461,7 +461,7 @@ void CalibrationMapper::checkKeyframeLost(Frame::Ptr keyframe) if ( std::abs(translation_angle_diff) > parameters_->lost_frame_max_angle_diff_ || - std::abs(translation_angle_diff) > parameters_->lost_frame_max_angle_diff_) { + std::abs(rotation_angle_diff) > parameters_->lost_frame_max_angle_diff_) { keyframe->lost_ = true; RCLCPP_WARN(