From e747c97314bbae0de3f64947805a533e9739cea6 Mon Sep 17 00:00:00 2001
From: joanvallve <jvallve@iri.upc.edu>
Date: Wed, 30 Apr 2025 13:33:57 +0200
Subject: [PATCH] adapted to remove floating frames
---
src/processor/processor_tracker_gnss.cpp | 5 ++---
1 file changed, 2 insertions(+), 3 deletions(-)
diff --git a/src/processor/processor_tracker_gnss.cpp b/src/processor/processor_tracker_gnss.cpp
index 1e0a9e317..d7aa0e8a4 100644
--- a/src/processor/processor_tracker_gnss.cpp
+++ b/src/processor/processor_tracker_gnss.cpp
@@ -471,7 +471,6 @@ void ProcessorTrackerGnss::establishFactors()
// Displacement factor from batch TDCP (FactorGnssDisplacement3d)
if (tdcp_params_.batch)
{
- WOLF_DEBUG("TDCP BATCH frame ", last_frame_ptr_->id());
FactorBasePtr last_fac_ptr = nullptr;
auto frame_map = getProblem()->getTrajectory()->getFrameMap();
@@ -480,8 +479,8 @@ void ProcessorTrackerGnss::establishFactors()
auto ref_KF = frame_rev_iter->second;
WOLF_DEBUG("TDCP BATCH ref frame ", ref_KF->id());
- // discard non-key frames, last-last pair and frames without CaptureGnss
- if (ref_KF == last_frame_ptr_ or ref_KF->getCaptureOf(getSensor(), "CaptureGnss") == nullptr) continue;
+ // discard frames without CaptureGnss
+ if (ref_KF->getCaptureOf(getSensor(), "CaptureGnss") == nullptr) continue;
// static cast
auto ref_cap_gnss =
--
GitLab