From c753fb2b48a14e8dfbfef22d122bfaec164323d1 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Joan=20Sol=C3=A0?= <jsola@iri.upc.edu> Date: Wed, 17 Jun 2020 19:15:22 +0200 Subject: [PATCH] Integrate odometry when processing capture --- src/processor/processor_motion.cpp | 3 +++ 1 file changed, 3 insertions(+) diff --git a/src/processor/processor_motion.cpp b/src/processor/processor_motion.cpp index e6466605e..f831e077a 100644 --- a/src/processor/processor_motion.cpp +++ b/src/processor/processor_motion.cpp @@ -725,6 +725,9 @@ void ProcessorMotion::integrateOneStep() jacobian_delta_, jacobian_delta_preint_, jacobian_calib_); + + // integrate odometry + statePlusDelta(odometry_, delta_, dt_, odometry_); } void ProcessorMotion::reintegrateBuffer(CaptureMotionPtr _capture_ptr) -- GitLab