From e55c847d6be5d696fd9c18b8e1e3f59a2f692b62 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Joan=20Sol=C3=A0?= <jsola@iri.upc.edu> Date: Sat, 18 Jun 2022 12:49:10 +0200 Subject: [PATCH] bootstrap length in seconds --- demos/processor_imu.yaml | 2 +- include/imu/processor/processor_imu.h | 6 +++--- src/yaml/processor_imu_yaml.cpp | 2 +- 3 files changed, 5 insertions(+), 5 deletions(-) diff --git a/demos/processor_imu.yaml b/demos/processor_imu.yaml index 0e9c8d10e..d8400410e 100644 --- a/demos/processor_imu.yaml +++ b/demos/processor_imu.yaml @@ -13,4 +13,4 @@ keyframe_vote: bootstrap: enable: true method: "G" - averaging_length: 10 \ No newline at end of file + averaging_length: 0.25 # seconds \ No newline at end of file diff --git a/include/imu/processor/processor_imu.h b/include/imu/processor/processor_imu.h index 55d5a24d4..e7b6b9549 100644 --- a/include/imu/processor/processor_imu.h +++ b/include/imu/processor/processor_imu.h @@ -39,7 +39,7 @@ struct ParamsProcessorImu : public ParamsProcessorMotion BOOTSTRAP_G, BOOTSTRAP_V0_G } bootstrap_method; - int bootstrap_averaging_length; + double bootstrap_averaging_length; ParamsProcessorImu() = default; ParamsProcessorImu(std::string _unique_name, const ParamsServer& _server): @@ -54,13 +54,13 @@ struct ParamsProcessorImu : public ParamsProcessorMotion { bootstrap_method = BOOTSTRAP_STATIC; bootstrap_averaging_length = - _server.getParam<int>(prefix + _unique_name + "/bootstrap/averaging_length"); + _server.getParam<double>(prefix + _unique_name + "/bootstrap/averaging_length"); } if (str == "G" /* */) { bootstrap_method = BOOTSTRAP_G; bootstrap_averaging_length = - _server.getParam<int>(prefix + _unique_name + "/bootstrap/averaging_length"); + _server.getParam<double>(prefix + _unique_name + "/bootstrap/averaging_length"); } if (str == "V0_G" /* */) { diff --git a/src/yaml/processor_imu_yaml.cpp b/src/yaml/processor_imu_yaml.cpp index ff2b02eaf..53bc6918d 100644 --- a/src/yaml/processor_imu_yaml.cpp +++ b/src/yaml/processor_imu_yaml.cpp @@ -74,7 +74,7 @@ static ParamsProcessorBasePtr createProcessorImuParams(const std::string & _file if (str == "G" /* */) { params->bootstrap_method = ParamsProcessorImu::BootstrapMethod::BOOTSTRAP_G; - params->bootstrap_averaging_length = bootstrap["averaging_length"].as<int>(); + params->bootstrap_averaging_length = bootstrap["averaging_length"].as<double>(); } if (str == "V0_G" /* */) { -- GitLab