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; -- GitLab