Rename vote_elapsed_time -> max_time_span

include/laser/processor/processor_odom_icp_3d.h

@@ -50,7 +50,7 @@ struct ParamsProcessorOdomIcp3d : public ParamsProcessorTracker, public ParamsMo
 {
     bool pcl_downsample;
 
-    double vote_elapsed_time;
+    double max_time_span;
 
     int    icp_max_iterations;
     double icp_transformation_translation_epsilon;  // squared value of translation epsilon
@@ -65,7 +65,7 @@ struct ParamsProcessorOdomIcp3d : public ParamsProcessorTracker, public ParamsMo
     {
         pcl_downsample = _server.getParam<bool>(prefix + _unique_name + "/pcl_downsample");
 
-        vote_elapsed_time = _server.getParam<double>(prefix + _unique_name + "/keyframe_vote/vote_elapsed_time");
+        max_time_span = _server.getParam<double>(prefix + _unique_name + "/keyframe_vote/max_time_span");
 
         icp_max_iterations = _server.getParam<int>(prefix + _unique_name + "/icp_max_iterations");
         icp_transformation_translation_epsilon =

src/processor/processor_odom_icp_3d.cpp

@@ -124,7 +124,7 @@ unsigned int ProcessorOdomIcp3d::processNew(const int& _max_features)
  */
 bool ProcessorOdomIcp3d::voteForKeyFrame() const
 {
-    if (incoming_laser_->getTimeStamp() - origin_laser_->getTimeStamp() > params_odom_icp_->vote_elapsed_time)
+    if (incoming_laser_->getTimeStamp() - origin_laser_->getTimeStamp() > params_odom_icp_->max_time_span)
     {
         return true;
     }

test/yaml/problem_odom_icp_3d.yaml

@@ -34,7 +34,8 @@ config:
     keyframe_vote:
       voting_active: true
       min_features_for_keyframe : 0
-      vote_elapsed_time: 0.99
+      max_time_span: 0.99
+      angle_turned: 1.0
     max_new_features: 0
     apply_loss_function: false
     state_getter: true