From 2db3c8e561ee1a89e1fe2b77ff89a33702ebdda0 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Joan=20Sol=C3=A0?= <jsola@iri.upc.edu>
Date: Sat, 18 Jun 2022 12:50:36 +0200
Subject: [PATCH] Make voteKF more precise
---
src/processor/processor_imu.cpp | 5 ++---
1 file changed, 2 insertions(+), 3 deletions(-)
diff --git a/src/processor/processor_imu.cpp b/src/processor/processor_imu.cpp
index 56d47d96e..0e4257e65 100644
--- a/src/processor/processor_imu.cpp
+++ b/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;
--
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