delayed time for keyframe vote using origin frame time stamp

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;