From dd02e781ecc7f96c4849eaba5c40ea353edb01c6 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Jaime=20Tarras=C3=B3=20Martinez?= <jtarraso@iri.upc.edu>
Date: Tue, 15 Nov 2016 15:16:33 +0100
Subject: [PATCH] Tune keyframe creation
---
src/processor_odom_3D.h | 2 +-
1 file changed, 1 insertion(+), 1 deletion(-)
diff --git a/src/processor_odom_3D.h b/src/processor_odom_3D.h
index 546c7a0ed..24ae0dbec 100644
--- a/src/processor_odom_3D.h
+++ b/src/processor_odom_3D.h
@@ -101,7 +101,7 @@ inline Eigen::VectorXs ProcessorOdom3D::deltaZero() const
inline bool ProcessorOdom3D::voteForKeyFrame()
{
- if (getBuffer().get().size() > 5)
+ if (getBuffer().get().size() > 10)
{
std::cout << "PM::vote buffer big enough" << std::endl;
return true;
--
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