From edc94bf4af38bd6ca3392bd9a8e1875628f179be Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?M=C3=A9d=C3=A9ric=20Fourmy?= <mfourmy@laas.fr>
Date: Mon, 30 Nov 2020 11:07:06 +0100
Subject: [PATCH] hotfix: bias preintegration propagation from origin and not
last capture
---
src/processor/processor_motion.cpp | 4 ++--
1 file changed, 2 insertions(+), 2 deletions(-)
diff --git a/src/processor/processor_motion.cpp b/src/processor/processor_motion.cpp
index d18ae7c31..0ed2f4387 100644
--- a/src/processor/processor_motion.cpp
+++ b/src/processor/processor_motion.cpp
@@ -439,8 +439,8 @@ void ProcessorMotion::processCapture(CaptureBasePtr _incoming_ptr)
key_frame->getTimeStamp(),
Eigen::VectorXd::Zero(data_size_),
getSensor()->getNoiseCov(),
- getCalibration(last_ptr_),
- getCalibration(last_ptr_),
+ getCalibration(origin_ptr_),
+ getCalibration(origin_ptr_),
last_ptr_);
// reset the new buffer
capture_new->getBuffer().push_back( motionZero(key_frame->getTimeStamp()) ) ;
--
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