diff --git a/src/processor_motion.cpp b/src/processor_motion.cpp index bb438060795ddfb88581b1216ca1ca0064f9e93f..5e526257413fca4756edfaabd558bb4228f8889e 100644 --- a/src/processor_motion.cpp +++ b/src/processor_motion.cpp @@ -136,19 +136,20 @@ void ProcessorMotion::process(CaptureBasePtr _incoming_ptr) { // extract pack elements FrameBasePtr keyframe_from_callback = pack->key_frame; - TimeStamp ts_from_callback = keyframe_from_callback->getTimeStamp(); + TimeStamp ts_from_callback = keyframe_from_callback->getTimeStamp(); // Find the frame acting as the capture's origin auto keyframe_origin = last_ptr_->getOriginFramePtr(); // emplace a new motion capture to the new keyframe + VectorXs calib = last_ptr_->getCalibration(); auto capture_for_keyframe_callback = emplaceCapture(keyframe_from_callback, getSensorPtr(), ts_from_callback, Eigen::VectorXs::Zero(data_size_), last_ptr_->getDataCovariance(), - last_ptr_->getCalibration(), - last_ptr_->getCalibration(), + calib, + calib, keyframe_origin); // split the buffer