nothing

src/processor/processor_gnss_single_diff.cpp

@@ -62,7 +62,15 @@ void ProcessorGnssSingleDiff::processCapture(CaptureBasePtr _capture)
         auto ftr = FeatureBase::emplace<FeatureGnssSingleDiff>(incoming_capture_, incoming_capture_->getData(),incoming_capture_->getDataCovariance());
 
         // ADD FACTOR
-        emplaceFactor(ftr);
+        auto new_fac = emplaceFactor(ftr);
+
+        // outlier rejection (only can be evaluated if ENU defined and ENU-MAP initialized)
+//        if (sensor_gnss_->isEnuDefined() && sensor_gnss_->isEnuMapRotationInitialized())
+//            if (rejectOutlier(new_fac))
+//            {
+//                new_fac->remove();
+//                return;
+//            }
 
         // store last KF
         last_KF_ = new_frame;