From 2c492f84738cf9b1bc29988523600d3c080aa72d Mon Sep 17 00:00:00 2001
From: jvallve <jvallve@iri.upc.edu>
Date: Mon, 5 Sep 2022 13:01:57 +0200
Subject: [PATCH] fixing merge
---
src/processor/processor_tracker.cpp | 2 +-
src/sensor/sensor_base.cpp | 4 ++--
2 files changed, 3 insertions(+), 3 deletions(-)
diff --git a/src/processor/processor_tracker.cpp b/src/processor/processor_tracker.cpp
index 94e30fd1f..61917d40f 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 820f1b996..7ba194fa2 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() << " )";
}
--
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