Skip to content
Snippets Groups Projects
Commit 727bb82b authored by Joan Solà Ortega's avatar Joan Solà Ortega
Browse files

Arrange setPrior() so that first all motions are set, then all trackers

parent 96419c7e
No related branches found
No related tags found
No related merge requests found
...@@ -655,21 +655,14 @@ FrameBasePtr Problem::setPrior(const Eigen::VectorXs& _prior_state, const Eigen: ...@@ -655,21 +655,14 @@ FrameBasePtr Problem::setPrior(const Eigen::VectorXs& _prior_state, const Eigen:
if (processor->isMotion()) if (processor->isMotion())
// Motion processors will set its origin at the KF // Motion processors will set its origin at the KF
(std::static_pointer_cast<ProcessorMotion>(processor))->setOrigin(origin_keyframe); (std::static_pointer_cast<ProcessorMotion>(processor))->setOrigin(origin_keyframe);
else
// Other processors will join the KF or not depending on their received data's time stamp and tolerances
processor->keyFrameCallback(origin_keyframe, _time_tolerance);
prior_is_set_ = true; prior_is_set_ = true;
// keyFrameCallback(origin_keyframe, nullptr, _time_tolerance);
// Notify all other processors about the origin KF --> they will join it or not depending on their received data // Notify all other processors about the origin KF --> they will join it or not depending on their received data
// for (auto sensor : hardware_ptr_->getSensorList()) for (auto sensor : hardware_ptr_->getSensorList())
// for (auto processor : sensor->getProcessorList()) for (auto processor : sensor->getProcessorList())
// if ( !processor->isMotion() ) if ( !processor->isMotion() )
// processor->keyFrameCallback(origin_keyframe, _time_tolerance); processor->keyFrameCallback(origin_keyframe, _time_tolerance);
return origin_keyframe; return origin_keyframe;
} }
......
0% Loading or .
You are about to add 0 people to the discussion. Proceed with caution.
Finish editing this message first!
Please register or to comment