From 3f23687fba6ed2fcd14d9bf221bf06306af2b18a Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Joan=20Sol=C3=A0?= <jsola@iri.upc.edu>
Date: Tue, 20 Feb 2018 23:47:11 +0100
Subject: [PATCH] Cosmetics
---
src/processor_base.cpp | 8 ++++----
src/test/gtest_processor_base.cpp | 2 ++
2 files changed, 6 insertions(+), 4 deletions(-)
diff --git a/src/processor_base.cpp b/src/processor_base.cpp
index 9d92a285f..2b7e9144d 100644
--- a/src/processor_base.cpp
+++ b/src/processor_base.cpp
@@ -105,12 +105,12 @@ KFPackPtr KFPackBuffer::selectPack(const TimeStamp& _time_stamp, const Scalar& _
bool prev_ok = checkTimeTolerance(prev->first, prev->second->time_tolerance, _time_stamp, _time_tolerance);
- if (!prev_ok && post_ok)
- return post->second;
-
- else if (prev_ok && !post_ok)
+ if (prev_ok && !post_ok)
return prev->second;
+ else if (!prev_ok && post_ok)
+ return post->second;
+
else if (prev_ok && post_ok)
{
if (std::fabs(post->first - _time_stamp) < std::fabs(prev->first - _time_stamp))
diff --git a/src/test/gtest_processor_base.cpp b/src/test/gtest_processor_base.cpp
index 2aead7e4a..fcf023710 100644
--- a/src/test/gtest_processor_base.cpp
+++ b/src/test/gtest_processor_base.cpp
@@ -242,6 +242,8 @@ TEST(ProcessorBase, KeyFrameCallback)
// Track
proc_tracker->process(make_shared<CaptureVoid>(t, sen_tracker));
+ problem->print(4,0,0,0);
+
// Only odom creating KFs
ASSERT_TRUE( problem->getLastKeyFramePtr()->getType().compare("PO 2D")==0 );
--
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