Merge branch '227-processormotion-kfcallback-with-recent-timestamp' into 'devel'

Resolve "ProcessorMotion KFcallback with recent TimeStamp"

Closes #227

See merge request !288

src/processor/motion_buffer.cpp

@@ -107,8 +107,8 @@ void MotionBuffer::getMotion(const TimeStamp& _ts, Motion& _motion) const
 
 void MotionBuffer::split(const TimeStamp& _ts, MotionBuffer& _buffer_part_before_ts)
 {
-    assert((container_.front().ts_ <= _ts) && "Error: Query time stamp is greater than the buffer's last tick");
-    assert((container_.back().ts_ >= _ts) && "Error: Query time stamp is smaller than the buffer's first tick");
+    assert((container_.front().ts_ <= _ts) && "Error: Query time stamp is smaller than the buffer's first tick");
+    assert((container_.back().ts_ >= _ts) && "Error: Query time stamp is greater than the buffer's last tick");
 
     _buffer_part_before_ts.setCalibrationPreint(calib_preint_);
 

src/processor/processor_motion.cpp

@@ -96,7 +96,6 @@ void ProcessorMotion::process(CaptureBasePtr _incoming_ptr)
 
     switch(processing_step_)
     {
-
         case RUNNING_WITHOUT_PACK :
         case RUNNING_WITH_PACK_ON_ORIGIN :
             break;
@@ -658,6 +657,10 @@ PackKeyFramePtr ProcessorMotion::computeProcessingStep()
 
     PackKeyFramePtr pack = buffer_pack_kf_.selectFirstPackBefore(last_ptr_, params_motion_->time_tolerance);
 
+    // ignore "future" KF to avoid MotionBuffer::split() error
+    if (pack && pack->key_frame->getTimeStamp() > last_ptr_->getBuffer().get().back().ts_)
+        pack = nullptr;
+
     if (pack)
     {
         if (buffer_pack_kf_.checkTimeTolerance(pack->key_frame->getTimeStamp(), pack->time_tolerance, origin_ptr_->getTimeStamp(), params_motion_->time_tolerance))