From 8c0b658035645bcd3a577569bbe9740be7a13cfe Mon Sep 17 00:00:00 2001
From: joanvallve <jvallve@iri.upc.edu>
Date: Thu, 14 Jan 2021 17:44:21 +0100
Subject: [PATCH] processorTrackerGnss fixes frame O if only SensorGnss
---
src/processor/processor_tracker_gnss.cpp | 4 +++-
1 file changed, 3 insertions(+), 1 deletion(-)
diff --git a/src/processor/processor_tracker_gnss.cpp b/src/processor/processor_tracker_gnss.cpp
index 9b9a8f299..1682d65de 100644
--- a/src/processor/processor_tracker_gnss.cpp
+++ b/src/processor/processor_tracker_gnss.cpp
@@ -539,7 +539,9 @@ void ProcessorTrackerGnss::resetDerived()
void ProcessorTrackerGnss::postProcess()
{
-
+ // Fix orientation of last frame if no other processors
+ if (getSensor()->getHardware()->getSensorList().size() == 1)
+ getProblem()->getLastFrame()->getO()->fix();
}
void ProcessorTrackerGnss::removeOutliers(FactorBasePtrList fac_list, CaptureBasePtr cap)
--
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