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Draft: Resolve "Calibration drift factor creation in processorMotion"

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6
@@ -12,6 +12,7 @@
#include "core/capture/capture_motion.h"
#include "core/processor/processor_base.h"
#include "core/processor/is_motion.h"
#include "core/factor/factor_block_difference.h"
#include "core/common/time_stamp.h"
#include "core/utils/params_server.h"
@@ -457,6 +458,12 @@ class ProcessorMotion : public ProcessorBase, public IsMotion
*/
virtual FactorBasePtr emplaceFactor(FeatureBasePtr _feature_motion, CaptureBasePtr _capture_origin) = 0;
/** \brief emplace a factor accounting for the drift of calibration/intrinsics parameters
* \param _cap_motion: capture containing an origin capture, the factor will be created between biases at
* _cap_motion time and its origin capture time
*/
virtual void emplaceCalibrationDriftFactor(CaptureMotionPtr _cap_motion);
virtual void setCalibration(const CaptureBasePtr _capture, const VectorXd& _calibration) = 0;
Motion motionZero(const TimeStamp& _ts) const;
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