diff --git a/include/laser/processor/processor_odom_icp_3d.h b/include/laser/processor/processor_odom_icp_3d.h index eaeed813b2649896c2696bbbbbecd07170892e12..bf4ac864099113e28d72e088437b0581a8c195e5 100644 --- a/include/laser/processor/processor_odom_icp_3d.h +++ b/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 = diff --git a/src/processor/processor_odom_icp_3d.cpp b/src/processor/processor_odom_icp_3d.cpp index e208e3e27563d18693a4116ea9c6006f34a68ac0..7624be9d7463e7fe6a4e03a295cf5e1c49731823 100644 --- a/src/processor/processor_odom_icp_3d.cpp +++ b/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; } diff --git a/test/yaml/problem_odom_icp_3d.yaml b/test/yaml/problem_odom_icp_3d.yaml index 22b5c019671c4e772879e6e150409761742c95f5..f21e65fb131bf736dd070e7962d0883b9f215985 100644 --- a/test/yaml/problem_odom_icp_3d.yaml +++ b/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