Check sensor->getIntrinsic(time) for time = KF_time

The intrinsic value called with sensor->getCalibration(ts) has a spike at exactly the ime of a keyframe. See if we can fix this:

created merge request !402 (merged) to address this issue

mentioned in merge request !402 (merged)

The problem was that we are getting the values before solve(). Now I take values before and after solve. For the same time stamp, before solve we have the peak, after solve we have it not.

In any case the P and V curbes are OK and anyway I’d like to avoid this peak even before solve()…

Solved by adding this code in ProcessorMotion in case of keyframe creation (L421):

// Set the capture's calibration with best results available (in case origin_ptr_ received a solve())
setCalibration(last_ptr_, getCalibration(origin_ptr_));

The result is this

closed with merge request !402 (merged)

mentioned in commit dfb64bd4