Merge branch 'feature/fix_constrained_by' into 'devel'

Removed wrong addConstrainedBy()

See merge request !251

src/processor/processor_tracker_feature.cpp

@@ -152,17 +152,6 @@ void ProcessorTrackerFeature::establishFactors()
         feature_in_last  ->addFactor(fac_ptr);
         feature_in_origin->addConstrainedBy(fac_ptr);
 
-        if (fac_ptr != nullptr) // factor links
-        {
-            FrameBasePtr frm = fac_ptr->getFrameOther();
-            if (frm)
-                frm->addConstrainedBy(fac_ptr);
-            CaptureBasePtr cap = fac_ptr->getCaptureOther();
-            if (cap)
-                cap->addConstrainedBy(fac_ptr);
-        }
-
-
         WOLF_DEBUG( "Factor: track: " , feature_in_last->trackId(),
                     " origin: "           , feature_in_origin->id() ,
                     " from last: "        , feature_in_last->id() );

src/processor/processor_tracker_landmark.cpp

@@ -137,12 +137,6 @@ void ProcessorTrackerLandmark::establishFactors()
         {
             last_feature->addFactor(fac_ptr);
             lmk->addConstrainedBy(fac_ptr);
-            FrameBasePtr frm = fac_ptr->getFrameOther();
-            if (frm)
-                frm->addConstrainedBy(fac_ptr);
-            CaptureBasePtr cap = fac_ptr->getCaptureOther();
-            if (cap)
-                cap->addConstrainedBy(fac_ptr);
         }
     }
 }