From 7255c15ec217e29b327b303baf43e5f6cef4fc62 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Joan=20Sol=C3=A0?= <jsola@iri.upc.edu>
Date: Wed, 10 Aug 2022 21:20:51 +0200
Subject: [PATCH] Modify voteForKf to use last timestamp and not incoming
---
src/processor/processor_odom_icp_3d.cpp | 2 +-
1 file changed, 1 insertion(+), 1 deletion(-)
diff --git a/src/processor/processor_odom_icp_3d.cpp b/src/processor/processor_odom_icp_3d.cpp
index 15a388fb2..95f249f5c 100644
--- a/src/processor/processor_odom_icp_3d.cpp
+++ b/src/processor/processor_odom_icp_3d.cpp
@@ -179,7 +179,7 @@ unsigned int ProcessorOdomIcp3d::processNew(const int& _max_features)
*/
bool ProcessorOdomIcp3d::voteForKeyFrame() const
{
- if (incoming_laser_->getTimeStamp() - origin_laser_->getTimeStamp() > params_odom_icp_->max_time_span)
+ if (last_ptr_->getTimeStamp() - origin_ptr_->getTimeStamp() > params_odom_icp_->max_time_span)
{
return true;
}
--
GitLab