From aab002d3092551689ad06d9cdaf1145db2c1a885 Mon Sep 17 00:00:00 2001
From: joanvallve <jvallve@iri.upc.edu>
Date: Tue, 28 Jun 2016 17:41:34 +0200
Subject: [PATCH] delayed time for keyframe vote using origin frame time stamp
---
src/processor_odom_2D.h | 8 ++++----
1 file changed, 4 insertions(+), 4 deletions(-)
diff --git a/src/processor_odom_2D.h b/src/processor_odom_2D.h
index c289a4f89..56ded4840 100644
--- a/src/processor_odom_2D.h
+++ b/src/processor_odom_2D.h
@@ -34,17 +34,17 @@ class ProcessorOdom2D : public ProcessorMotion
//std::cout << "ProcessorOdom2D::voteForKeyFrame: traveled distance " << getBufferPtr()->get().back().delta_integr_.norm() << std::endl;
if (getBufferPtr()->get().back().delta_integr_.norm() > dist_traveled_th_)
{
- std::cout << "ProcessorOdom2D:: VOTE FOR KEY FRAME traveled distance " << getBufferPtr()->get().back().delta_integr_.norm() << std::endl;
+ std::cout << "ProcessorOdom2D:: " << this->id() << "VOTE FOR KEY FRAME traveled distance " << getBufferPtr()->get().back().delta_integr_.norm() << std::endl;
return true;
}
if (getBufferPtr()->get().back().delta_integr_cov_.determinant() > cov_det_th_)
{
- std::cout << "ProcessorOdom2D:: VOTE FOR KEY FRAME covariance det " << getBufferPtr()->get().back().delta_integr_cov_.determinant() << std::endl;
+ std::cout << "ProcessorOdom2D:: " << this->id() << "VOTE FOR KEY FRAME covariance det " << getBufferPtr()->get().back().delta_integr_cov_.determinant() << std::endl;
return true;
}
- if (getBufferPtr()->get().back().ts_.get() - origin_ptr_->getTimeStamp().get() > elapsed_time_th_)
+ if (getBufferPtr()->get().back().ts_.get() - origin_ptr_->getFramePtr()->getTimeStamp().get() > elapsed_time_th_)
{
- std::cout << "ProcessorOdom2D:: VOTE FOR KEY FRAME elapsed time " << getBufferPtr()->get().back().ts_.get() - origin_ptr_->getTimeStamp().get() << std::endl;
+ std::cout << "ProcessorOdom2D:: " << this->id() << "VOTE FOR KEY FRAME elapsed time " << getBufferPtr()->get().back().ts_.get() - origin_ptr_->getFramePtr()->getTimeStamp().get() << std::endl;
return true;
}
return false;
--
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