From 75eaf84a897a852f26b4f0302e97d2386984e70d Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Joan=20Sol=C3=A0?= <jsola@iri.upc.edu>
Date: Sun, 19 Jun 2022 16:43:19 +0200
Subject: [PATCH] Improve checking time span for voting KF

---
 src/processor/processor_imu.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/processor/processor_imu.cpp b/src/processor/processor_imu.cpp
index 11fc86b1d..fea5b04d6 100644
--- a/src/processor/processor_imu.cpp
+++ b/src/processor/processor_imu.cpp
@@ -49,7 +49,7 @@ void ProcessorImu::preProcess()
 bool ProcessorImu::voteForKeyFrame() const
 {
     // time span
-    if (getBuffer().back().ts_ - getBuffer().front().ts_ > params_motion_Imu_->max_time_span - params_motion_Imu_->time_tolerance)
+    if (getBuffer().back().ts_ - getBuffer().front().ts_ >= params_motion_Imu_->max_time_span - Constants::EPS)
     {
         WOLF_DEBUG( "PM: vote: time span" );
         return true;
-- 
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