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wolf
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c55e1323
Commit
c55e1323
authored
3 years ago
by
Joan Solà Ortega
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Update processor_loop_closure.cpp
parent
c2163504
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3 merge requests
!436
Release to start wolf public
,
!433
After 2nd RA-L submission
,
!428
Resolve "Rename IsMotion --> StateProvider"
Pipeline
#7628
canceled
3 years ago
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src/processor/processor_loop_closure.cpp
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c55e1323
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@@ -82,7 +82,7 @@ void ProcessorLoopClosure::processKeyFrame(FrameBasePtr _frame, const double& _t
...
@@ -82,7 +82,7 @@ void ProcessorLoopClosure::processKeyFrame(FrameBasePtr _frame, const double& _t
{
{
/* This function has 4 scenarios:
/* This function has 4 scenarios:
* 1. Frame already have a capture of the sensor -> process
* 1. Frame already have a capture of the sensor -> process
* 2. Frame has a timestamp within time tolerances of
any
stored capture -> link + process
* 2. Frame has a timestamp within time tolerances of
some
stored capture -> link + process
* 3. Frame is more recent than any stored capture -> store frame to be processed later in processCapture
* 3. Frame is more recent than any stored capture -> store frame to be processed later in processCapture
* 4. Otherwise: The frame is not compatible with any stored capture -> discard frame
* 4. Otherwise: The frame is not compatible with any stored capture -> discard frame
*/
*/
...
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