From 89862d1ebca575ce2ec327452ae519395e29937b Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Joan=20Sol=C3=A0?= <jsola@iri.upc.edu>
Date: Wed, 14 Aug 2019 11:38:17 +0200
Subject: [PATCH] Use sensor noise to create new captures
---
src/processor/processor_motion.cpp | 10 +++++-----
1 file changed, 5 insertions(+), 5 deletions(-)
diff --git a/src/processor/processor_motion.cpp b/src/processor/processor_motion.cpp
index a262b48f1..5a8d56ede 100644
--- a/src/processor/processor_motion.cpp
+++ b/src/processor/processor_motion.cpp
@@ -136,7 +136,7 @@ void ProcessorMotion::processCapture(CaptureBasePtr _incoming_ptr)
getSensor(),
ts_from_callback,
Eigen::VectorXs::Zero(data_size_),
- capture_origin->getDataCovariance(),
+ getSensor()->getNoiseCov(),
calib_origin,
calib_origin,
keyframe_origin);
@@ -215,7 +215,7 @@ void ProcessorMotion::processCapture(CaptureBasePtr _incoming_ptr)
getSensor(),
ts_from_callback,
Eigen::VectorXs::Zero(data_size_),
- origin_ptr_->getDataCovariance(),
+ getSensor()->getNoiseCov(),
calib_origin,
calib_origin,
keyframe_origin);
@@ -297,7 +297,7 @@ void ProcessorMotion::processCapture(CaptureBasePtr _incoming_ptr)
getSensor(),
key_frame_ptr->getTimeStamp(),
Eigen::VectorXs::Zero(data_size_),
- Eigen::MatrixXs::Zero(data_size_, data_size_),
+ getSensor()->getNoiseCov(),
last_ptr_->getCalibration(),
last_ptr_->getCalibration(),
key_frame_ptr);
@@ -382,7 +382,7 @@ void ProcessorMotion::setOrigin(FrameBasePtr _origin_frame)
getSensor(),
_origin_frame->getTimeStamp(),
Eigen::VectorXs::Zero(data_size_),
- Eigen::MatrixXs::Zero(data_size_, data_size_),
+ getSensor()->getNoiseCov(),
getSensor()->getCalibration(),
getSensor()->getCalibration(),
nullptr);
@@ -397,7 +397,7 @@ void ProcessorMotion::setOrigin(FrameBasePtr _origin_frame)
getSensor(),
_origin_frame->getTimeStamp(),
Eigen::VectorXs::Zero(data_size_),
- Eigen::MatrixXs::Zero(data_size_, data_size_),
+ getSensor()->getNoiseCov(),
getSensor()->getCalibration(),
getSensor()->getCalibration(),
_origin_frame);
--
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