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()); -- GitLab