ConstraintIMU - Constructor Seg Fault
ConstraintIMU ends in a segmentation fault when using the constructors. The problem occurs when setting dt_ :
- _frame_ptr->getTimeStamp() works fine
- getFeaturePtr()->getFramePtr()->getTimeStamp() ends in seg fault because getFeaturePtr() may return a segmentation fault.
for now, This can be fixed by using the feature given to the constructor. This is OK when creating the first feature after a frame. But what if we have :
Frame0 - Feature0 - Feature1 ?
Then which value should dt_ take for the new constraint ? Should it be Feature1.dt_ - Frame0.dt_
or Feature1.dt_ - Feature0.dt_
?