From 900e6a70141e9be15f86b2e034433df9e983e2a3 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Joan=20Sol=C3=A0?= <jsola@iri.upc.edu>
Date: Thu, 9 Dec 2021 18:42:16 +0100
Subject: [PATCH] Remove frame's time tolerance from all APIs
---
demos/demo_trifocal_optimization.cpp | 2 +-
test/gtest_processor_tracker_feature_trifocal.cpp | 2 +-
2 files changed, 2 insertions(+), 2 deletions(-)
diff --git a/demos/demo_trifocal_optimization.cpp b/demos/demo_trifocal_optimization.cpp
index 075c87e20..c901bc20e 100644
--- a/demos/demo_trifocal_optimization.cpp
+++ b/demos/demo_trifocal_optimization.cpp
@@ -134,7 +134,7 @@ int main(int argc, char** argv)
Matrix6d P = Matrix6d::Identity() * 0.000001; // 1mm
// ====== KF1 ======
- FrameBasePtr kf1 = problem->setPrior(x, P, t, dt/2);
+ FrameBasePtr kf1 = problem->setPrior(x, P, t);
// Process capture
CaptureImagePtr capture_1 = make_shared<CaptureImage>(t, camera, images.at(0));
diff --git a/test/gtest_processor_tracker_feature_trifocal.cpp b/test/gtest_processor_tracker_feature_trifocal.cpp
index 5f6cf4ff6..2edd89912 100644
--- a/test/gtest_processor_tracker_feature_trifocal.cpp
+++ b/test/gtest_processor_tracker_feature_trifocal.cpp
@@ -142,7 +142,7 @@ TEST(ProcessorTrackerFeatureTrifocal, KeyFrameCallback)
TimeStamp t(0.0);
VectorComposite x("PO", {Vector3d::Zero(), Quaterniond::Identity().coeffs()});
VectorComposite s("PO", {1e-3*Vector3d::Ones(), 1e-3*Vector3d::Ones()});
- auto KF1 = problem->setPriorFactor(x, s, t, dt/2); // KF1
+ auto KF1 = problem->setPriorFactor(x, s, t); // KF1
std::static_pointer_cast<ProcessorOdom3d>(proc_odo)->setOrigin(KF1);
MatrixXd P = (s.vector("PO").array() * s.vector("PO").array()).matrix().asDiagonal();
--
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