Merge branch 'establish_constraints' into 'master'

Fix processor_tracker

See merge request mobile_robotics/wolf!227

src/processor_tracker.cpp

@@ -106,6 +106,9 @@ void ProcessorTracker::process(CaptureBasePtr const _incoming_ptr)
             // Process info
             processNew(params_tracker_->max_new_features);
 
+            // Establish constraints
+            establishConstraints();
+
             // Update pointers
             resetDerived();
             origin_ptr_ = last_ptr_;
@@ -170,7 +173,7 @@ void ProcessorTracker::process(CaptureBasePtr const _incoming_ptr)
                 frm->addCapture(incoming_ptr_);
 
                 // process
-//                processNew(params_tracker_->max_new_features);
+                processNew(params_tracker_->max_new_features);
 
                 //                // Set key
                 //                last_ptr_->getFramePtr()->setKey();