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Commit 980985f3 authored by Joan Solà Ortega's avatar Joan Solà Ortega
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Add calls to processor odom

parent 2373bcfb
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1 merge request!157Kfpackmanager
......@@ -224,20 +224,18 @@ TEST(ProcessorBase, KeyFrameCallback)
// Move
t = t+dt;
// capture_odo->setTimeStamp(t);
// sen_odo->process(capture_odo);
capture_odo->setTimeStamp(t);
sen_odo->process(capture_odo);
// Track
CaptureVoidPtr cap(make_shared<CaptureVoid>(t, sen_tracker));
proc_tracker->process(cap);
// t = t+dt;
problem->print(4,0,0,0);
problem->print(4,1,0,0);
// Only odom creating KFs
ASSERT_TRUE( problem->getLastKeyFramePtr()->getType().compare("PO 2D")==0 );
// WOLF_DEBUG("iter:",ii," ts: ", t);
// t = t+dt;
}
// Print WOLF info
......
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