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)
-- 
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