diff --git a/CMakeLists.txt b/CMakeLists.txt
index b84a4aa218a28e25b767d517f055f0c901bf8e8d..976709646ff5d2d052630537fe6178a4251c1653 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -292,6 +292,7 @@ SET(HDRS_TREE_MANAGER
include/core/tree_manager/factory_tree_manager.h
include/core/tree_manager/tree_manager_base.h
include/core/tree_manager/tree_manager_sliding_window.h
+ include/core/tree_manager/tree_manager_sliding_window_dual_rate.h
)
SET(HDRS_YAML
include/core/yaml/parser_yaml.h
@@ -381,6 +382,7 @@ SET(SRCS_SOLVER
)
SET(SRCS_TREE_MANAGER
src/tree_manager/tree_manager_sliding_window.cpp
+ src/tree_manager/tree_manager_sliding_window_dual_rate.cpp
)
SET(SRCS_YAML
src/yaml/parser_yaml.cpp
diff --git a/include/core/tree_manager/tree_manager_sliding_window.h b/include/core/tree_manager/tree_manager_sliding_window.h
index 0ff5f31ed2734b7840518bf18dfc32073dac4cec..ce44fe003a8dfa58bb9a938e804af3e26fe576df 100644
--- a/include/core/tree_manager/tree_manager_sliding_window.h
+++ b/include/core/tree_manager/tree_manager_sliding_window.h
@@ -1,7 +1,7 @@
#ifndef INCLUDE_TREE_MANAGER_SLIDING_WINDOW_H_
#define INCLUDE_TREE_MANAGER_SLIDING_WINDOW_H_
-#include "../tree_manager/tree_manager_base.h"
+#include "core/tree_manager/tree_manager_base.h"
namespace wolf
{
@@ -15,20 +15,20 @@ struct ParamsTreeManagerSlidingWindow : public ParamsTreeManagerBase
ParamsTreeManagerSlidingWindow(std::string _unique_name, const wolf::ParamsServer & _server) :
ParamsTreeManagerBase(_unique_name, _server)
{
- n_key_frames = _server.getParam<unsigned int>(prefix + "/n_key_frames");
- fix_first_key_frame = _server.getParam<bool> (prefix + "/fix_first_key_frame");
+ n_frames = _server.getParam<unsigned int>(prefix + "/n_frames");
+ fix_first_frame = _server.getParam<bool> (prefix + "/fix_first_frame");
viral_remove_empty_parent = _server.getParam<bool> (prefix + "/viral_remove_empty_parent");
}
std::string print() const
{
return "\n" + ParamsTreeManagerBase::print() + "\n"
- + "n_key_frames: " + std::to_string(n_key_frames) + "\n"
- + "fix_first_key_frame: " + std::to_string(fix_first_key_frame) + "\n"
+ + "n_frames: " + std::to_string(n_frames) + "\n"
+ + "fix_first_frame: " + std::to_string(fix_first_frame) + "\n"
+ "viral_remove_empty_parent: " + std::to_string(viral_remove_empty_parent) + "\n";
}
- unsigned int n_key_frames;
- bool fix_first_key_frame;
+ unsigned int n_frames;
+ bool fix_first_frame;
bool viral_remove_empty_parent;
};
@@ -43,7 +43,7 @@ class TreeManagerSlidingWindow : public TreeManagerBase
~TreeManagerSlidingWindow() override{}
- void keyFrameCallback(FrameBasePtr _key_frame) override;
+ void keyFrameCallback(FrameBasePtr _frame) override;
protected:
ParamsTreeManagerSlidingWindowPtr params_sw_;
diff --git a/include/core/tree_manager/tree_manager_sliding_window_dual_rate.h b/include/core/tree_manager/tree_manager_sliding_window_dual_rate.h
new file mode 100644
index 0000000000000000000000000000000000000000..e9fcbd1332fd2d4eca3f7afa04c2aee167ad1980
--- /dev/null
+++ b/include/core/tree_manager/tree_manager_sliding_window_dual_rate.h
@@ -0,0 +1,51 @@
+#ifndef INCLUDE_TREE_MANAGER_SLIDING_WINDOW_DUAL_RATE_H_
+#define INCLUDE_TREE_MANAGER_SLIDING_WINDOW_DUAL_RATE_H_
+
+#include "core/tree_manager/tree_manager_sliding_window.h"
+
+namespace wolf
+{
+
+WOLF_STRUCT_PTR_TYPEDEFS(ParamsTreeManagerSlidingWindowDualRate)
+WOLF_PTR_TYPEDEFS(TreeManagerSlidingWindowDualRate)
+
+struct ParamsTreeManagerSlidingWindowDualRate : public ParamsTreeManagerSlidingWindow
+{
+ ParamsTreeManagerSlidingWindowDualRate() = default;
+ ParamsTreeManagerSlidingWindowDualRate(std::string _unique_name, const wolf::ParamsServer & _server) :
+ ParamsTreeManagerSlidingWindow(_unique_name, _server)
+ {
+ n_frames_recent = _server.getParam<unsigned int>(prefix + "/n_frames_recent");
+ assert(n_frames_recent <= n_frames);
+ rate_old_frames = _server.getParam<unsigned int>(prefix + "/rate_old_frames");
+ }
+ std::string print() const
+ {
+ return "\n" + ParamsTreeManagerBase::print() + "\n"
+ + "n_frames_recent: " + std::to_string(n_frames_recent) + "\n"
+ + "rate_old_frames: " + std::to_string(rate_old_frames) + "\n";
+ }
+
+ unsigned int n_frames_recent, rate_old_frames;
+};
+
+class TreeManagerSlidingWindowDualRate : public TreeManagerSlidingWindow
+{
+ public:
+ TreeManagerSlidingWindowDualRate(ParamsTreeManagerSlidingWindowDualRatePtr _params);
+ ;
+ WOLF_TREE_MANAGER_CREATE(TreeManagerSlidingWindowDualRate, ParamsTreeManagerSlidingWindowDualRate)
+
+ ~TreeManagerSlidingWindowDualRate() override{}
+
+ void keyFrameCallback(FrameBasePtr _key_frame) override;
+
+ protected:
+ ParamsTreeManagerSlidingWindowDualRatePtr params_swdr_;
+ unsigned int count_frames_;
+ //TrajectoryIter first_recent_frame_it_;
+};
+
+} /* namespace wolf */
+
+#endif /* INCLUDE_TREE_MANAGER_SLIDING_WINDOW_DUAL_RATE_H_ */
diff --git a/src/tree_manager/tree_manager_sliding_window.cpp b/src/tree_manager/tree_manager_sliding_window.cpp
index 623c7bec91214b55f7d2d8f2034dbba3e01c5ccb..3c64b2ee87d2e26318788c4eddd547606edb6cb0 100644
--- a/src/tree_manager/tree_manager_sliding_window.cpp
+++ b/src/tree_manager/tree_manager_sliding_window.cpp
@@ -3,32 +3,22 @@
namespace wolf
{
-void TreeManagerSlidingWindow::keyFrameCallback(FrameBasePtr _key_frame)
+void TreeManagerSlidingWindow::keyFrameCallback(FrameBasePtr _frame)
{
- int n_kf(0);
- FrameBasePtr first_KF(nullptr), second_KF(nullptr);
- for (auto frm : *getProblem()->getTrajectory())
- {
- if (frm->isKey())
- {
- n_kf++;
- if (first_KF == nullptr)
- first_KF = frm;
- else if (second_KF == nullptr)
- second_KF = frm;
- }
- }
+ int n_f = getProblem()->getTrajectory()->getFrameMap().size(); // in trajectory there are only key frames
- // remove first KF if too many KF
- if (n_kf > params_sw_->n_key_frames)
+ // remove first frame if too many frames
+ if (n_f > params_sw_->n_frames)
{
- WOLF_DEBUG("TreeManagerSlidingWindow removing first frame");
- first_KF->remove(params_sw_->viral_remove_empty_parent);
- if (params_sw_->fix_first_key_frame)
+ if (params_sw_->fix_first_frame)
{
WOLF_DEBUG("TreeManagerSlidingWindow fixing new first frame");
- second_KF->fix();
+ auto second_frame = std::next(getProblem()->getTrajectory()->begin())->second;
+ if (second_frame)
+ second_frame->fix();
}
+ WOLF_DEBUG("TreeManagerSlidingWindow removing first frame");
+ getProblem()->getTrajectory()->getFirstFrame()->remove(params_sw_->viral_remove_empty_parent);
}
}
diff --git a/src/tree_manager/tree_manager_sliding_window_dual_rate.cpp b/src/tree_manager/tree_manager_sliding_window_dual_rate.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..31585d3c7bdee10ac723a087cfbde74fdb03e956
--- /dev/null
+++ b/src/tree_manager/tree_manager_sliding_window_dual_rate.cpp
@@ -0,0 +1,83 @@
+#include "core/tree_manager/tree_manager_sliding_window_dual_rate.h"
+#include "core/capture/capture_motion.h"
+#include "core/processor/processor_motion.h"
+
+namespace wolf
+{
+
+TreeManagerSlidingWindowDualRate::TreeManagerSlidingWindowDualRate(ParamsTreeManagerSlidingWindowDualRatePtr _params) :
+ TreeManagerSlidingWindow(_params),
+ params_swdr_(_params),
+ count_frames_(0)
+{
+ NodeBase::setType("TreeManagerSlidingWindowDualRate");
+}
+
+void TreeManagerSlidingWindowDualRate::keyFrameCallback(FrameBasePtr _key_frame)
+{
+ int n_f = getProblem()->getTrajectory()->getFrameMap().size(); // in trajectory there are only key frames
+
+ // recent segment not complete
+ if (n_f <= params_swdr_->n_frames_recent)
+ return;
+
+
+ // REMOVE FIRST RECENT FRAME: all recent frames except one of each rate_old_frames
+ if (count_frames_ != 0)
+ {
+ FrameBasePtr remove_recent_frame = std::next(getProblem()->getTrajectory()->rbegin(),
+ params_swdr_->n_frames_recent)->second;
+ FrameBasePtr keep_recent_frame = std::next(getProblem()->getTrajectory()->rbegin(),
+ params_swdr_->n_frames_recent - 1)->second;
+
+ // compose motion captures for all processors motion
+ for (auto is_motion : getProblem()->getProcessorIsMotionList())
+ {
+ auto proc_motion = std::dynamic_pointer_cast<ProcessorMotion>(is_motion);
+ if (proc_motion == nullptr)
+ continue;
+
+ auto cap_prev = std::static_pointer_cast<CaptureMotion>(remove_recent_frame->getCaptureOf(proc_motion->getSensor()));
+ auto cap_next = std::static_pointer_cast<CaptureMotion>(keep_recent_frame->getCaptureOf(proc_motion->getSensor()));
+
+ // merge captures (if exist)
+ if (cap_prev and cap_next)
+ {
+ assert(cap_next->getOriginCapture() == cap_prev);
+ proc_motion->mergeCaptures(cap_prev, cap_next);
+ }
+ }
+
+ // remove frame
+ remove_recent_frame->remove(params_swdr_->viral_remove_empty_parent);
+ }
+ // REMOVE OLDEST FRAME: when first recent frame is kept, remove oldest frame (if max frames reached)
+ else if (n_f > params_swdr_->n_frames)
+ {
+ if (params_swdr_->fix_first_frame)
+ {
+ WOLF_DEBUG("TreeManagerSlidingWindow fixing new first frame");
+ auto second_frame = *std::next(getProblem()->getTrajectory()->begin());
+ if (second_frame)
+ second_frame->fix();
+ }
+ WOLF_DEBUG("TreeManagerSlidingWindow removing first frame");
+ getProblem()->getTrajectory()->getFirstFrame()->remove(params_swdr_->viral_remove_empty_parent);
+ }
+
+ // iterate counter
+ count_frames_++;
+ if (count_frames_ == params_swdr_->rate_old_frames)
+ count_frames_ = 0;
+}
+
+
+} /* namespace wolf */
+
+// Register in the FactoryTreeManager
+#include "core/tree_manager/factory_tree_manager.h"
+namespace wolf {
+WOLF_REGISTER_TREE_MANAGER(TreeManagerSlidingWindowDualRate);
+WOLF_REGISTER_TREE_MANAGER_AUTO(TreeManagerSlidingWindowDualRate);
+} // namespace wolf
+
diff --git a/test/gtest_tree_manager_sliding_window.cpp b/test/gtest_tree_manager_sliding_window.cpp
index b8ff8240e7e2c7e97fb4f56aeadb72d2b51a0027..177209846280f0d8a626298126d69b1d68d55ed4 100644
--- a/test/gtest_tree_manager_sliding_window.cpp
+++ b/test/gtest_tree_manager_sliding_window.cpp
@@ -24,7 +24,7 @@ TEST(TreeManagerSlidingWindow, make_shared)
P->setTreeManager(GM);
- ASSERT_EQ(P->getTreeManager(), GM);
+ EXPECT_EQ(P->getTreeManager(), GM);
}
TEST(TreeManagerSlidingWindow, createParams)
@@ -35,12 +35,12 @@ TEST(TreeManagerSlidingWindow, createParams)
auto GM = TreeManagerSlidingWindow::create("tree_manager", ParamsGM);
- ASSERT_TRUE(std::dynamic_pointer_cast<TreeManagerSlidingWindow>(GM) != nullptr);
+ EXPECT_TRUE(std::dynamic_pointer_cast<TreeManagerSlidingWindow>(GM) != nullptr);
P->setTreeManager(GM);
- ASSERT_TRUE(std::dynamic_pointer_cast<TreeManagerSlidingWindow>(P->getTreeManager()) != nullptr);
- ASSERT_EQ(P->getTreeManager(), GM);
+ EXPECT_TRUE(std::dynamic_pointer_cast<TreeManagerSlidingWindow>(P->getTreeManager()) != nullptr);
+ EXPECT_EQ(P->getTreeManager(), GM);
}
TEST(TreeManagerSlidingWindow, createParamServer)
@@ -52,12 +52,12 @@ TEST(TreeManagerSlidingWindow, createParamServer)
auto GM = TreeManagerSlidingWindow::create("tree_manager", server);
- ASSERT_TRUE(std::dynamic_pointer_cast<TreeManagerSlidingWindow>(GM) != nullptr);
+ EXPECT_TRUE(std::dynamic_pointer_cast<TreeManagerSlidingWindow>(GM) != nullptr);
P->setTreeManager(GM);
- ASSERT_TRUE(std::dynamic_pointer_cast<TreeManagerSlidingWindow>(P->getTreeManager()) != nullptr);
- ASSERT_EQ(P->getTreeManager(), GM);
+ EXPECT_TRUE(std::dynamic_pointer_cast<TreeManagerSlidingWindow>(P->getTreeManager()) != nullptr);
+ EXPECT_EQ(P->getTreeManager(), GM);
}
TEST(TreeManagerSlidingWindow, autoConf)
@@ -67,7 +67,7 @@ TEST(TreeManagerSlidingWindow, autoConf)
ProblemPtr P = Problem::autoSetup(server);
- ASSERT_TRUE(std::dynamic_pointer_cast<TreeManagerSlidingWindow>(P->getTreeManager()) != nullptr);
+ EXPECT_TRUE(std::dynamic_pointer_cast<TreeManagerSlidingWindow>(P->getTreeManager()) != nullptr);
}
TEST(TreeManagerSlidingWindow, slidingWindowFixViral)
@@ -80,7 +80,7 @@ TEST(TreeManagerSlidingWindow, slidingWindowFixViral)
// FRAME 1 ----------------------------------------------------------
auto F1 = P->getTrajectory()->getLastFrame();
- ASSERT_TRUE(F1 != nullptr);
+ EXPECT_TRUE(F1 != nullptr);
Vector7d state = F1->getStateVector();
Vector7d zero_disp(state);
@@ -100,7 +100,7 @@ TEST(TreeManagerSlidingWindow, slidingWindowFixViral)
auto c12 = FactorBase::emplace<FactorOdom3d>(f12, f12, F1, nullptr, false);
// Check no frame removed
- ASSERT_FALSE(F1->isRemoving());
+ EXPECT_FALSE(F1->isRemoving());
// FRAME 3 ----------------------------------------------------------
auto F3 = P->emplaceKeyFrame(TimeStamp(3), "PO", 3, state);
@@ -116,7 +116,7 @@ TEST(TreeManagerSlidingWindow, slidingWindowFixViral)
auto c23 = FactorBase::emplace<FactorOdom3d>(f23, f23, F2, nullptr, false);
// Check no frame removed
- ASSERT_FALSE(F1->isRemoving());
+ EXPECT_FALSE(F1->isRemoving());
// FRAME 4 ----------------------------------------------------------
auto F4 = P->emplaceKeyFrame(TimeStamp(4), "PO", 3, state);
@@ -132,11 +132,11 @@ TEST(TreeManagerSlidingWindow, slidingWindowFixViral)
auto c34 = FactorBase::emplace<FactorOdom3d>(f34, f34, F3, nullptr, false);
// Checks
- ASSERT_TRUE(F1->isRemoving());
- ASSERT_TRUE(c12->isRemoving());
- ASSERT_TRUE(C12->isRemoving()); //Virally removed
- ASSERT_TRUE(f12->isRemoving()); //Virally removed
- ASSERT_TRUE(F2->isFixed()); //Fixed
+ EXPECT_TRUE(F1->isRemoving());
+ EXPECT_TRUE(c12->isRemoving());
+ EXPECT_TRUE(C12->isRemoving()); //Virally removed
+ EXPECT_TRUE(f12->isRemoving()); //Virally removed
+ EXPECT_TRUE(F2->isFixed()); //Fixed
// FRAME 5 ----------------------------------------------------------
auto F5 = P->emplaceKeyFrame(TimeStamp(5), "PO", 3, state);
@@ -152,18 +152,18 @@ TEST(TreeManagerSlidingWindow, slidingWindowFixViral)
auto c45 = FactorBase::emplace<FactorOdom3d>(f45, f45, F4, nullptr, false);
// Checks
- ASSERT_TRUE(F1->isRemoving());
- ASSERT_TRUE(c12->isRemoving());
- ASSERT_TRUE(C12->isRemoving()); //Virally removed
- ASSERT_TRUE(f12->isRemoving()); //Virally removed
- ASSERT_TRUE(F2->isRemoving());
- ASSERT_TRUE(c2->isRemoving());
- ASSERT_TRUE(C2->isRemoving()); //Virally removed
- ASSERT_TRUE(f2->isRemoving()); //Virally removed
- ASSERT_TRUE(c23->isRemoving());
- ASSERT_TRUE(C23->isRemoving()); //Virally removed
- ASSERT_TRUE(f23->isRemoving()); //Virally removed
- ASSERT_TRUE(F3->isFixed()); //Fixed
+ EXPECT_TRUE(F1->isRemoving());
+ EXPECT_TRUE(c12->isRemoving());
+ EXPECT_TRUE(C12->isRemoving()); //Virally removed
+ EXPECT_TRUE(f12->isRemoving()); //Virally removed
+ EXPECT_TRUE(F2->isRemoving());
+ EXPECT_TRUE(c2->isRemoving());
+ EXPECT_TRUE(C2->isRemoving()); //Virally removed
+ EXPECT_TRUE(f2->isRemoving()); //Virally removed
+ EXPECT_TRUE(c23->isRemoving());
+ EXPECT_TRUE(C23->isRemoving()); //Virally removed
+ EXPECT_TRUE(f23->isRemoving()); //Virally removed
+ EXPECT_TRUE(F3->isFixed()); //Fixed
}
TEST(TreeManagerSlidingWindow, slidingWindowNoFixNoViral)
@@ -176,7 +176,7 @@ TEST(TreeManagerSlidingWindow, slidingWindowNoFixNoViral)
// FRAME 1 (prior) ----------------------------------------------------------
auto F1 = P->getTrajectory()->getLastFrame();
- ASSERT_TRUE(F1 != nullptr);
+ EXPECT_TRUE(F1 != nullptr);
Vector7d state = F1->getStateVector();
Vector7d zero_disp(state);
@@ -196,7 +196,7 @@ TEST(TreeManagerSlidingWindow, slidingWindowNoFixNoViral)
auto c12 = FactorBase::emplace<FactorOdom3d>(f12, f12, F1, nullptr, false);
// Check no frame removed
- ASSERT_FALSE(F1->isRemoving());
+ EXPECT_FALSE(F1->isRemoving());
// FRAME 3 ----------------------------------------------------------
auto F3 = P->emplaceKeyFrame(TimeStamp(3), "PO", 3, state);
@@ -212,7 +212,7 @@ TEST(TreeManagerSlidingWindow, slidingWindowNoFixNoViral)
auto c23 = FactorBase::emplace<FactorOdom3d>(f23, f23, F2, nullptr, false);
// Check no frame removed
- ASSERT_FALSE(F1->isRemoving());
+ EXPECT_FALSE(F1->isRemoving());
// FRAME 4 ----------------------------------------------------------
auto F4 = P->emplaceKeyFrame(TimeStamp(4), "PO", 3, state);
@@ -228,11 +228,11 @@ TEST(TreeManagerSlidingWindow, slidingWindowNoFixNoViral)
auto c34 = FactorBase::emplace<FactorOdom3d>(f34, f34, F3, nullptr, false);
// Checks
- ASSERT_TRUE(F1->isRemoving());
- ASSERT_TRUE(c12->isRemoving());
- ASSERT_FALSE(C12->isRemoving()); //Not virally removed
- ASSERT_FALSE(f12->isRemoving()); //Not virally removed
- ASSERT_FALSE(F2->isFixed()); //Not fixed
+ EXPECT_TRUE(F1->isRemoving());
+ EXPECT_TRUE(c12->isRemoving());
+ EXPECT_FALSE(C12->isRemoving()); //Not virally removed
+ EXPECT_FALSE(f12->isRemoving()); //Not virally removed
+ EXPECT_FALSE(F2->isFixed()); //Not fixed
// FRAME 5 ----------------------------------------------------------
auto F5 = P->emplaceKeyFrame(TimeStamp(5), "PO", 3, state);
@@ -248,18 +248,18 @@ TEST(TreeManagerSlidingWindow, slidingWindowNoFixNoViral)
auto c45 = FactorBase::emplace<FactorOdom3d>(f45, f45, F4, nullptr, false);
// Checks
- ASSERT_TRUE(F1->isRemoving());
- ASSERT_TRUE(c12->isRemoving());
- ASSERT_TRUE(C12->isRemoving());
- ASSERT_TRUE(f12->isRemoving());
- ASSERT_TRUE(F2->isRemoving());
- ASSERT_TRUE(c2->isRemoving());
- ASSERT_TRUE(C2->isRemoving());
- ASSERT_TRUE(f2->isRemoving());
- ASSERT_TRUE(c23->isRemoving());
- ASSERT_FALSE(C23->isRemoving()); //Not virally removed
- ASSERT_FALSE(f23->isRemoving()); //Not virally removed
- ASSERT_FALSE(F3->isFixed()); //Not fixed
+ EXPECT_TRUE(F1->isRemoving());
+ EXPECT_TRUE(c12->isRemoving());
+ EXPECT_TRUE(C12->isRemoving());
+ EXPECT_TRUE(f12->isRemoving());
+ EXPECT_TRUE(F2->isRemoving());
+ EXPECT_TRUE(c2->isRemoving());
+ EXPECT_TRUE(C2->isRemoving());
+ EXPECT_TRUE(f2->isRemoving());
+ EXPECT_TRUE(c23->isRemoving());
+ EXPECT_FALSE(C23->isRemoving()); //Not virally removed
+ EXPECT_FALSE(f23->isRemoving()); //Not virally removed
+ EXPECT_FALSE(F3->isFixed()); //Not fixed
}
int main(int argc, char **argv)
diff --git a/test/yaml/params_tree_manager_sliding_window1.yaml b/test/yaml/params_tree_manager_sliding_window1.yaml
index 96ad94f72af7e8de1b9200a8e5ea44e3bc952a85..2a8613dede994fe72b7fea8a5f1506c71981bbb0 100644
--- a/test/yaml/params_tree_manager_sliding_window1.yaml
+++ b/test/yaml/params_tree_manager_sliding_window1.yaml
@@ -15,8 +15,8 @@ config:
time_tolerance: 0.1
tree_manager:
type: "TreeManagerSlidingWindow"
- n_key_frames: 3
- fix_first_key_frame: true
+ n_frames: 3
+ fix_first_frame: true
viral_remove_empty_parent: true
sensors:
-
diff --git a/test/yaml/params_tree_manager_sliding_window2.yaml b/test/yaml/params_tree_manager_sliding_window2.yaml
index 9ae33a2af5ab0695bd44948d33d2f9aa104cbc74..fda0a8a558ac3f9dec60ec869bc5d9c7d68ca6a5 100644
--- a/test/yaml/params_tree_manager_sliding_window2.yaml
+++ b/test/yaml/params_tree_manager_sliding_window2.yaml
@@ -15,8 +15,8 @@ config:
time_tolerance: 0.1
tree_manager:
type: "TreeManagerSlidingWindow"
- n_key_frames: 3
- fix_first_key_frame: false
+ n_frames: 3
+ fix_first_frame: false
viral_remove_empty_parent: false
sensors:
-