From 20500beca8532c6f5597440810a860b4c95dcb2e Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Joan=20Sol=C3=A0?= <jsola@iri.upc.edu>
Date: Fri, 17 Jun 2022 16:14:21 +0200
Subject: [PATCH] Fix PrcImu constructor (was creating another params object)
---
src/processor/processor_imu.cpp | 3 ++-
1 file changed, 2 insertions(+), 1 deletion(-)
diff --git a/src/processor/processor_imu.cpp b/src/processor/processor_imu.cpp
index 98eb77f4d..5fc392a87 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" );
--
GitLab