From 58408b26222b41aa423566dbd2d5e544709eda95 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Joan=20Sol=C3=A0?= <jsola@iri.upc.edu>
Date: Wed, 14 Aug 2019 10:32:26 +0200
Subject: [PATCH] Remove clearing temporary integrals
---
src/processor/processor_motion.cpp | 14 --------------
1 file changed, 14 deletions(-)
diff --git a/src/processor/processor_motion.cpp b/src/processor/processor_motion.cpp
index 633a98022..432ba0d87 100644
--- a/src/processor/processor_motion.cpp
+++ b/src/processor/processor_motion.cpp
@@ -226,13 +226,6 @@ void ProcessorMotion::processCapture(CaptureBasePtr _incoming_ptr)
// reset the new buffer
new_capture_ptr->getBuffer().get().push_back( motionZero(key_frame_ptr->getTimeStamp()) ) ;
- // reset integrals
- delta_ = deltaZero();
- delta_cov_ . setZero();
- delta_integrated_ = deltaZero();
- delta_integrated_cov_ . setZero();
- jacobian_calib_ . setZero();
-
// reset derived things
resetDerived();
@@ -334,13 +327,6 @@ void ProcessorMotion::setOrigin(FrameBasePtr _origin_frame)
// clear and reset buffer
getBuffer().get().push_back(motionZero(_origin_frame->getTimeStamp()));
- // Reset integrals
- delta_ = deltaZero();
- delta_cov_ . setZero();
- delta_integrated_ = deltaZero();
- delta_integrated_cov_ . setZero();
- jacobian_calib_ . setZero();
-
// Reset derived things
resetDerived();
}
--
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