fixing merge

src/processor/processor_tracker.cpp

@@ -170,7 +170,7 @@ void ProcessorTracker::processCapture(CaptureBasePtr _incoming_ptr)
             // Update pointers
             origin_ptr_ = last_ptr_;
             last_ptr_   = incoming_ptr_;
-            last_frame_ptr_ = frame;
+            last_frame_ptr_ = keyframe;
             incoming_ptr_ = nullptr;
 
             break;

src/sensor/sensor_base.cpp

@@ -558,9 +558,9 @@ void SensorBase::printState (bool _metric, bool _state_blocks, std::ostream& _st
                 _stream << _tabs << "  " << key << " [" << (sb->isFixed() ? "Fix" : "Est") << ", "
                         << (isStateBlockDynamic(key) ? "Dyn" : "Sta") << "] = ( " << std::setprecision(3)
                         << sb->getState().transpose() << " )";
-                if (params_prior_map_.count(key))
+                if (features_prior_map_.count(key))
                 {
-                    auto ftr = params_prior_map_.at(key);
+                    auto ftr = features_prior_map_.at(key);
                     _stream << " ; mean = ( " << ftr->getMeasurement().transpose() << " )";
                     _stream << " , std = ( " << ftr->getMeasurementCovariance().diagonal().array().sqrt().transpose() << " )";
                 }