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Commit e5ed7915 authored by Joan Solà Ortega's avatar Joan Solà Ortega
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WIP call process() so that the callback takes effect

parent e531d6ad
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...@@ -376,6 +376,13 @@ class Process_Constraint_IMU : public testing::Test ...@@ -376,6 +376,13 @@ class Process_Constraint_IMU : public testing::Test
// ===================================== IMU CALLBACK // ===================================== IMU CALLBACK
processor_imu->keyFrameCallback(KF, 0.01); processor_imu->keyFrameCallback(KF, 0.01);
data = Vector6s::Zero();
capture_imu = make_shared<CaptureIMU>(t+dt, sensor_imu, data, sensor_imu->getNoiseCov());
processor_imu->process(capture_imu);
KF_1 = problem->getLastKeyFramePtr(); KF_1 = problem->getLastKeyFramePtr();
C_1 = KF_1->getCaptureList().front(); // front is IMU C_1 = KF_1->getCaptureList().front(); // front is IMU
CM_1 = static_pointer_cast<CaptureMotion>(C_1); CM_1 = static_pointer_cast<CaptureMotion>(C_1);
......
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