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Apriltag: some improvements/changes

Merged Joan Vallvé Navarro requested to merge feature/apriltag_factor_optimization into Apriltag
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@@ -95,14 +95,6 @@ FrameBasePtr TrajectoryBase::closestKeyFrameToTimeStamp(const TimeStamp& _ts)
else
break;
}
if (closest_kf != nullptr)
{
WOLF_INFO("TrajectoryBase::closestKeyFrameToTimeStamp: returning KF", closest_kf->id(), " with state ", closest_kf->getState().transpose());
}
else
{
WOLF_INFO("TrajectoryBase::closestKeyFrameToTimeStamp: returning nullptr");
}
return closest_kf;
}
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