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Commit 182cfcb5 authored by Joan Solà Ortega's avatar Joan Solà Ortega
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Rename vote_elapsed_time -> max_time_span

parent 4d5546d7
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1 merge request!41Draft: Resolve "New branch laser 3d"
......@@ -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 =
......
......@@ -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;
}
......
......@@ -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
......
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