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Commit 9aaeb93b authored by Médéric Fourmy's avatar Médéric Fourmy
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Spliting switch to call integrateOneStep at the right time

parent 2ccbe83e
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1 merge request!373Resolve "Processor motion composite state adaptation"
......@@ -96,15 +96,6 @@ void ProcessorMotion::processCapture(CaptureBasePtr _incoming_ptr)
preProcess(); // Derived class operations
// integrate data
if (last_ptr_ != nullptr)
{
integrateOneStep();
}
else {
last_nullptr_ = true;
}
PackKeyFramePtr pack = computeProcessingStep();
if (pack)
buffer_pack_kf_.removeUpTo( pack->key_frame->getTimeStamp() );
......@@ -139,6 +130,18 @@ void ProcessorMotion::processCapture(CaptureBasePtr _incoming_ptr)
case RUNNING_WITH_KF_ON_ORIGIN :
break;
default :
break;
}
// integrate data
// Done at this place because setPrior() needs
integrateOneStep();
switch(processing_step_)
{
case RUNNING_WITH_KF_BEFORE_ORIGIN :
{
......
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