From 448682c5686dad24cfd39f44c949008a61241d3f Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Joan=20Sol=C3=A0?= <jsola@iri.upc.edu>
Date: Wed, 23 Dec 2020 11:49:14 +0100
Subject: [PATCH] Fix getCalibration() after merge from devel
---
src/processor/processor_imu2d.cpp | 7 ++++---
1 file changed, 4 insertions(+), 3 deletions(-)
diff --git a/src/processor/processor_imu2d.cpp b/src/processor/processor_imu2d.cpp
index bef7024e8..52633147e 100644
--- a/src/processor/processor_imu2d.cpp
+++ b/src/processor/processor_imu2d.cpp
@@ -89,9 +89,10 @@ namespace wolf {
VectorXd ProcessorImu2d::getCalibration (const CaptureBasePtr _capture) const
{
- assert(_capture && "called with a null capture");
- assert(_capture->getSensorIntrinsic() && "null sensor intrinsics state block");
- return _capture->getSensorIntrinsic()->getState();
+ if (_capture)
+ return _capture->getStateBlock('I')->getState();
+ else
+ return getSensor()->getStateBlockDynamic('I')->getState();
}
void ProcessorImu2d::setCalibration (const CaptureBasePtr _capture, const VectorXd& _calibration)
--
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