From ce881b22149b72110e616c3b4e16c1c216610479 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Joan=20Sol=C3=A0?= <jsola@iri.upc.edu> Date: Fri, 30 Sep 2022 10:01:44 +0200 Subject: [PATCH] Improve some doc and warn messages --- src/processor/processor_motion.cpp | 10 +++++----- 1 file changed, 5 insertions(+), 5 deletions(-) diff --git a/src/processor/processor_motion.cpp b/src/processor/processor_motion.cpp index 53f6f7158..4dae38147 100644 --- a/src/processor/processor_motion.cpp +++ b/src/processor/processor_motion.cpp @@ -194,7 +194,7 @@ void ProcessorMotion::processCapture(CaptureBasePtr _incoming_ptr) if (keyframe_from_callback) buffer_frame_.removeUpTo( keyframe_from_callback->getTimeStamp() ); - switch(processing_step_) + switch(processing_step_) // Things to do before integrating motion data { case FIRST_TIME_WITHOUT_KF : { @@ -229,14 +229,14 @@ void ProcessorMotion::processCapture(CaptureBasePtr _incoming_ptr) } - // integrate data + // integrate motion data // Done at this place because setPrior() needs integrateOneStep(); // perform bootstrap steps (usually only IMU requires this) if (bootstrapping_) bootstrap(); - switch (processing_step_) + switch (processing_step_) // Things to do after integrating motion data { case RUNNING_WITH_KF_BEFORE_ORIGIN : { @@ -272,11 +272,11 @@ void ProcessorMotion::processCapture(CaptureBasePtr _incoming_ptr) TimeStamp timestamp_from_callback = keyframe_from_callback->getTimeStamp(); // find the capture whose buffer is affected by the new keyframe - auto capture_existing = findCaptureContainingTimeStamp(timestamp_from_callback); // k + auto capture_existing = findCaptureContainingTimeStamp(timestamp_from_callback); if (!capture_existing) { - WOLF_WARN("A KF before first motion capture (TS = ", timestamp_from_callback, "). ProcessorMotion cannot do anything."); + WOLF_WARN(getName(), ": Cannot join KF. The received KF (TS = ", timestamp_from_callback, ") is older than the first motion capture."); break; } -- GitLab