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Commit e747c973 authored by Joan Vallvé Navarro's avatar Joan Vallvé Navarro
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adapted to remove floating frames

parent 29d12fba
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1 merge request!37Draft: Resolve "Adapt to new sensor constructors in core"
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src/processor/processor_tracker_gnss.cpp
+ 2
− 3
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...@@ -471,7 +471,6 @@ void ProcessorTrackerGnss::establishFactors() ...@@ -471,7 +471,6 @@ void ProcessorTrackerGnss::establishFactors()
// Displacement factor from batch TDCP (FactorGnssDisplacement3d) // Displacement factor from batch TDCP (FactorGnssDisplacement3d)
if (tdcp_params_.batch) if (tdcp_params_.batch)
{ {
WOLF_DEBUG("TDCP BATCH frame ", last_frame_ptr_->id());
FactorBasePtr last_fac_ptr = nullptr; FactorBasePtr last_fac_ptr = nullptr;
auto frame_map = getProblem()->getTrajectory()->getFrameMap(); auto frame_map = getProblem()->getTrajectory()->getFrameMap();
...@@ -480,8 +479,8 @@ void ProcessorTrackerGnss::establishFactors() ...@@ -480,8 +479,8 @@ void ProcessorTrackerGnss::establishFactors()
auto ref_KF = frame_rev_iter->second; auto ref_KF = frame_rev_iter->second;
WOLF_DEBUG("TDCP BATCH ref frame ", ref_KF->id()); WOLF_DEBUG("TDCP BATCH ref frame ", ref_KF->id());
// discard non-key frames, last-last pair and frames without CaptureGnss // discard frames without CaptureGnss
if (ref_KF == last_frame_ptr_ or ref_KF->getCaptureOf(getSensor(), "CaptureGnss") == nullptr) continue; if (ref_KF->getCaptureOf(getSensor(), "CaptureGnss") == nullptr) continue;
// static cast // static cast
auto ref_cap_gnss = auto ref_cap_gnss =
......
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