diff --git a/src/processor/processor_imu.cpp b/src/processor/processor_imu.cpp index 98eb77f4dadbce8970c665ef026cbc4686240780..5fc392a87dd7ad5328d56c3f8a5271b31391cf10 100644 --- a/src/processor/processor_imu.cpp +++ b/src/processor/processor_imu.cpp @@ -31,7 +31,7 @@ namespace wolf { ProcessorImu::ProcessorImu(ParamsProcessorImuPtr _params_motion_imu) : ProcessorMotion("ProcessorImu", "POV", 3, 10, 10, 9, 6, 6, _params_motion_imu), - params_motion_Imu_(std::make_shared<ParamsProcessorImu>(*_params_motion_imu)) + params_motion_Imu_(_params_motion_imu) { bootstrapping_ = params_motion_Imu_->bootstrap_enable; list_fac_inactive_bootstrap_.clear(); @@ -55,6 +55,7 @@ bool ProcessorImu::voteForKeyFrame() const return true; } // buffer length + WOLF_INFO("buff size: ", getBuffer().size(), " max: ", params_motion_Imu_->max_buff_length); if (getBuffer().size() > params_motion_Imu_->max_buff_length) { WOLF_DEBUG( "PM: vote: buffer length" );