Make voteKF more precise

src/processor/processor_imu.cpp

@@ -49,14 +49,13 @@ void ProcessorImu::preProcess()
 bool ProcessorImu::voteForKeyFrame() const
 {
     // time span
-    if (getBuffer().back().ts_ - getBuffer().front().ts_ > params_motion_Imu_->max_time_span)
+    if (getBuffer().back().ts_ - getBuffer().front().ts_ > params_motion_Imu_->max_time_span - params_motion_Imu_->time_tolerance)
     {
         WOLF_DEBUG( "PM: vote: time span" );
         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)
+    if (getBuffer().size() -1 > params_motion_Imu_->max_buff_length)
     {
         WOLF_DEBUG( "PM: vote: buffer length" );
         return true;