diff --git a/src/processor/processor_tracker.cpp b/src/processor/processor_tracker.cpp index 623066614b764486e4cf568e892d8fed95c90cbf..d499c26136f499c5c51784c09ff7e8b2ca0d8ff8 100644 --- a/src/processor/processor_tracker.cpp +++ b/src/processor/processor_tracker.cpp @@ -151,10 +151,10 @@ void ProcessorTracker::processCapture(CaptureBasePtr _incoming_ptr) WOLF_DEBUG( "PT ", getName(), " SECOND_TIME_WITHOUT_KEYFRAME" ); // Make a NON KEY Frame to hold incoming capture - FrameBasePtr keyframe = std::make_shared<FrameBase>(incoming_ptr_->getTimeStamp(), + FrameBasePtr frame = std::make_shared<FrameBase>(incoming_ptr_->getTimeStamp(), getProblem()->getFrameStructure(), getProblem()->getState()); - incoming_ptr_->link(keyframe); + incoming_ptr_->link(frame); // Process info // TrackerLandmark: If we have been given a map, all landmarks in the map are known. Process them. @@ -170,7 +170,7 @@ void ProcessorTracker::processCapture(CaptureBasePtr _incoming_ptr) // Update pointers origin_ptr_ = last_ptr_; last_ptr_ = incoming_ptr_; - last_frame_ptr_ = keyframe; + last_frame_ptr_ = frame; incoming_ptr_ = nullptr; break;