diff --git a/src/processor/processor_tracker.cpp b/src/processor/processor_tracker.cpp index 94e30fd1f20d1526a9580f7b1a2a5a94083dfede..61917d40f9f126a9f86626e7c987f7d031cbf407 100644 --- a/src/processor/processor_tracker.cpp +++ b/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; diff --git a/src/sensor/sensor_base.cpp b/src/sensor/sensor_base.cpp index 820f1b9968a890d028763d69f2210fee5fed3fb4..7ba194fa29eabcecf4f204f951336c25ffb0bcfb 100644 --- a/src/sensor/sensor_base.cpp +++ b/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() << " )"; }