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Commit 0056f469 authored by Joan Vallvé Navarro's avatar Joan Vallvé Navarro
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implemented exception of unlink a capture in case of non-KF

parent 6e86aca1
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1 merge request!274Resolve "Emplace API inconsistent with ProcessorTrackerFeature/Landmark functions"
...@@ -291,7 +291,11 @@ void CaptureBase::setCalibration(const VectorXs& _calib) ...@@ -291,7 +291,11 @@ void CaptureBase::setCalibration(const VectorXs& _calib)
void CaptureBase::link(FrameBasePtr _frm_ptr) void CaptureBase::link(FrameBasePtr _frm_ptr)
{ {
assert(this->getFrame() == nullptr && "linking an already linked capture"); assert((this->getFrame() == nullptr || !this->getFrame()->isKey()) && "linking a capture already linked to a KF");
// unlink from previous non-key frame
if (this->getFrame())
this->getFrame()->removeCapture(shared_from_this());
if(_frm_ptr) if(_frm_ptr)
{ {
......
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