From 9b4cfbe2e28f7b5cfb057b0e8c6fa3f27b9dceea Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Joan=20Vallv=C3=A9=20Navarro?= <jvallve@iri.upc.edu>
Date: Tue, 15 Oct 2019 10:51:42 +0200
Subject: [PATCH] nothing
---
src/processor/processor_gnss_single_diff.cpp | 10 +++++++++-
1 file changed, 9 insertions(+), 1 deletion(-)
diff --git a/src/processor/processor_gnss_single_diff.cpp b/src/processor/processor_gnss_single_diff.cpp
index eafe44da5..87416fc0f 100644
--- a/src/processor/processor_gnss_single_diff.cpp
+++ b/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;
--
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