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Commit fa9d8fbb authored by Joaquim Casals Buñuel's avatar Joaquim Casals Buñuel
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Write state to last frame in processor tracker

parent afd81d94
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Pipeline #4676 passed
......@@ -87,8 +87,9 @@ void ProcessorTracker::processCapture(CaptureBasePtr _incoming_ptr)
// Issue KF callback with new KF
getProblem()->keyFrameCallback(kfrm, shared_from_this(), params_tracker_->time_tolerance);
// Update pointers
resetDerived();
// Update pointers
origin_ptr_ = incoming_ptr_;
last_ptr_ = incoming_ptr_;
incoming_ptr_ = nullptr;
......@@ -175,9 +176,9 @@ void ProcessorTracker::processCapture(CaptureBasePtr _incoming_ptr)
last_ptr_->getFrame()->setState(getProblem()->getState(last_ptr_->getTimeStamp()));
last_ptr_->getFrame()->setKey();
// make F; append incoming to new F
FrameBasePtr frm = getProblem()->emplaceFrame(NON_ESTIMATED, incoming_ptr_->getTimeStamp());
incoming_ptr_->link(frm);
// // make F; append incoming to new F
// FrameBasePtr frm = getProblem()->emplaceFrame(NON_ESTIMATED, incoming_ptr_->getTimeStamp());
// incoming_ptr_->link(frm);
// Establish factors
establishFactors();
......@@ -187,6 +188,11 @@ void ProcessorTracker::processCapture(CaptureBasePtr _incoming_ptr)
// Update pointers
resetDerived();
// make F; append incoming to new F
FrameBasePtr frm = getProblem()->emplaceFrame(NON_ESTIMATED, last_ptr_->getFrame()->getState(), incoming_ptr_->getTimeStamp());
incoming_ptr_->link(frm);
origin_ptr_ = last_ptr_;
last_ptr_ = incoming_ptr_;
incoming_ptr_ = nullptr;
......
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