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Commit c55e1323 authored by Joan Solà Ortega's avatar Joan Solà Ortega
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Update processor_loop_closure.cpp

parent c2163504
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3 merge requests!436Release to start wolf public,!433After 2nd RA-L submission,!428Resolve "Rename IsMotion --> StateProvider"
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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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