From 312a8d33eef68f27b3c6aae6b6ef7f0061c5fb72 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Joan=20Vallv=C3=A9=20Navarro?= <jvallve@iri.upc.edu>
Date: Mon, 27 May 2019 12:18:11 +0200
Subject: [PATCH] automatical linking when KF callback

---
 src/processor/processor_tracker.cpp | 4 +---
 1 file changed, 1 insertion(+), 3 deletions(-)

diff --git a/src/processor/processor_tracker.cpp b/src/processor/processor_tracker.cpp
index 4a47e5d9e..d11509a11 100644
--- a/src/processor/processor_tracker.cpp
+++ b/src/processor/processor_tracker.cpp
@@ -132,10 +132,8 @@ void ProcessorTracker::process(CaptureBasePtr const _incoming_ptr)
 
             // Capture last_ is added to the new keyframe
             FrameBasePtr last_old_frame = last_ptr_->getFrame();
-            last_old_frame->unlinkCapture(last_ptr_);
+            last_ptr_->link(pack->key_frame); // automatically calling last_ptr_->unlink();
             last_old_frame->remove();
-            // pack->key_frame->addCapture(last_ptr_);
-            last_ptr_->link(pack->key_frame);
 
             // Create new frame
             FrameBasePtr frm = getProblem()->emplaceFrame(NON_ESTIMATED, incoming_ptr_->getTimeStamp());
-- 
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