From e069ac5ceac7c97297557b95942c45205baaab09 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Joan=20Vallv=C3=A9=20Navarro?= <jvallve@iri.upc.edu>
Date: Tue, 28 Apr 2020 09:23:30 +0200
Subject: [PATCH] all tests passed
---
test/gtest_processor_tracker_feature_trifocal.cpp | 3 ++-
1 file changed, 2 insertions(+), 1 deletion(-)
diff --git a/test/gtest_processor_tracker_feature_trifocal.cpp b/test/gtest_processor_tracker_feature_trifocal.cpp
index 404289689..e4ac851df 100644
--- a/test/gtest_processor_tracker_feature_trifocal.cpp
+++ b/test/gtest_processor_tracker_feature_trifocal.cpp
@@ -122,7 +122,8 @@ TEST(ProcessorTrackerFeatureTrifocal, KeyFrameCallback)
TimeStamp t(0.0);
Vector7d x; x << 0,0,0, 0,0,0,1;
Matrix6d P = Matrix6d::Identity() * 0.000001;
- problem->setPrior(x, P, t, dt/2); // KF1
+ auto KF1 = problem->setPriorFactor(x, P, t, dt/2); // KF1
+ std::static_pointer_cast<ProcessorOdom3d>(proc_odo)->setOrigin(KF1);
CaptureOdom3dPtr capt_odo = make_shared<CaptureOdom3d>(t, sens_odo, Vector6d::Zero(), P);
--
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