diff --git a/demos/hello_wolf/hello_wolf.cpp b/demos/hello_wolf/hello_wolf.cpp
index 63bb828ae09e29940b94aa7df96412336882c134..42d6242d3bfb0618f3e9fafef6fefc4ebf35a477 100644
--- a/demos/hello_wolf/hello_wolf.cpp
+++ b/demos/hello_wolf/hello_wolf.cpp
@@ -150,7 +150,7 @@ int main()
params_prc_odo["keyframe_vote"]["max_time_span"] = 999;
params_prc_odo["keyframe_vote"]["max_dist_traveled"] = 0.95; // Will make KFs automatically every 1m displacement
params_prc_odo["keyframe_vote"]["max_angle_turned"] = 999;
- params_prc_odo["keyframe_vote"]["cov_det"] = 999;
+ params_prc_odo["keyframe_vote"]["max_cov_det"] = 999;
params_prc_odo["keyframe_vote"]["max_buff_length"] = 999;
params_prc_odo["state_provider"] = true;
params_prc_odo["state_provider_order"] = 1;
diff --git a/demos/hello_wolf/yaml/processor_odom_2d.yaml b/demos/hello_wolf/yaml/processor_odom_2d.yaml
index 6d9e0e8867ea8bef83d321c215e21dc9e9a983e3..84e7788781c415468037df01eb014de3d75f29c9 100644
--- a/demos/hello_wolf/yaml/processor_odom_2d.yaml
+++ b/demos/hello_wolf/yaml/processor_odom_2d.yaml
@@ -8,7 +8,7 @@ keyframe_vote:
max_dist_traveled: 0.95
max_angle_turned: 999
max_buff_length: 999
- cov_det: 999
+ max_cov_det: 999
apply_loss_function: true
state_provider: true
diff --git a/include/core/processor/processor_odom_2d.h b/include/core/processor/processor_odom_2d.h
index db05b1425a220be78593cec062493849c72b004a..3746ff05623d6d2b6f5b522e226356221bc65200 100644
--- a/include/core/processor/processor_odom_2d.h
+++ b/include/core/processor/processor_odom_2d.h
@@ -34,12 +34,12 @@ class ProcessorOdom2d : public ProcessorMotion
public:
ProcessorOdom2d(const YAML::Node& _params);
~ProcessorOdom2d() override;
- void configure(SensorBasePtr _sensor) override{};
+ void configure(SensorBasePtr _sensor) override {};
// Factory method for high level API
WOLF_PROCESSOR_CREATE(ProcessorOdom2d);
- double getCovDet() const;
+ double getMaxCovDet() const;
bool voteForKeyFrame() const override;
protected:
@@ -101,9 +101,9 @@ inline VectorXd ProcessorOdom2d::getCalibration(const CaptureBaseConstPtr _captu
inline void ProcessorOdom2d::setCalibration(const CaptureBasePtr _capture, const VectorXd& _calibration) {}
-inline double ProcessorOdom2d::getCovDet() const
+inline double ProcessorOdom2d::getMaxCovDet() const
{
- return params_["keyframe_vote"]["cov_det"].as<double>();
+ return params_["keyframe_vote"]["max_cov_det"].as<double>();
}
} // namespace wolf
diff --git a/schema/processor/ProcessorOdom2d.schema b/schema/processor/ProcessorOdom2d.schema
index 418be70864d091e6acad817881dbdc015693d2a9..41b76cdc7ef8cda01e31728116828e97921b2339 100644
--- a/schema/processor/ProcessorOdom2d.schema
+++ b/schema/processor/ProcessorOdom2d.schema
@@ -1,7 +1,7 @@
follow: ProcessorMotion.schema
keyframe_vote:
- cov_det:
+ max_cov_det:
_mandatory: $voting_active
_type: double
_doc: The determinant threshold of the covariance matrix of the integrated delta, to vote for a keyframe.
\ No newline at end of file
diff --git a/src/processor/processor_odom_2d.cpp b/src/processor/processor_odom_2d.cpp
index f9e10a83fe7e470ae757e764207597c2271e393c..5e90e721e3bbbb2cef60a8c85c8e567fe73bf6f2 100644
--- a/src/processor/processor_odom_2d.cpp
+++ b/src/processor/processor_odom_2d.cpp
@@ -138,7 +138,7 @@ bool ProcessorOdom2d::voteForKeyFrame() const
return true;
}
// Uncertainty criterion
- if (getBuffer().back().delta_integr_cov_.determinant() > getCovDet())
+ if (getBuffer().back().delta_integr_cov_.determinant() > getMaxCovDet())
{
WOLF_DEBUG("PM", id(), " ", getType(), " votes per state covariance");
return true;
diff --git a/test/gtest_processor_motion.cpp b/test/gtest_processor_motion.cpp
index 29be8cd23c8dc2f705cc7e75af1ca0cc13f0eff2..7f35029461321f75a04b7533dae2a1110bcc6690 100644
--- a/test/gtest_processor_motion.cpp
+++ b/test/gtest_processor_motion.cpp
@@ -82,7 +82,7 @@ class ProcessorMotion_test : public testing::Test
params["keyframe_vote"]["max_dist_traveled"] = 100;
params["keyframe_vote"]["max_angle_turned"] = 6.28;
params["keyframe_vote"]["max_time_span"] = 2.5 * dt; // force KF at every third process()
- params["keyframe_vote"]["cov_det"] = 100;
+ params["keyframe_vote"]["max_cov_det"] = 100;
params["unmeasured_perturbation_std"] = 0.001;
// install processor
diff --git a/test/yaml/processor_diff_drive.yaml b/test/yaml/processor_diff_drive.yaml
index bea2900eb4b8bf9c3f4b01c066292c6e32347933..e4eff792b83ff56926990e9f1d6507c3ff2d2a9d 100644
--- a/test/yaml/processor_diff_drive.yaml
+++ b/test/yaml/processor_diff_drive.yaml
@@ -11,7 +11,7 @@ keyframe_vote:
max_buff_length: 99 # motion deltas
max_dist_traveled: 99 # meters
max_angle_turned: 99 # radians (1 rad approx 57 deg, approx 60 deg)
- cov_det: 99
+ max_cov_det: 99
unmeasured_perturbation_std: 0.001
diff --git a/test/yaml/processor_odom_2d.yaml b/test/yaml/processor_odom_2d.yaml
index e379b4ed779c8a045f8c084ab5c3149ef889cb9c..bdd02893d41c1978a5484fdcfe4bae95c20a8181 100644
--- a/test/yaml/processor_odom_2d.yaml
+++ b/test/yaml/processor_odom_2d.yaml
@@ -11,7 +11,7 @@ keyframe_vote:
max_buff_length: 100 # motion deltas
max_dist_traveled: 100 # meters
max_angle_turned: 1.963495 # radians (1 rad approx 57 deg, approx 60 deg)
- cov_det: 100 # determinant of covariance threshold
+ max_cov_det: 100 # determinant of covariance threshold
unmeasured_perturbation_std: 0.001
diff --git a/test/yaml/processor_odom_2d_inactive.yaml b/test/yaml/processor_odom_2d_inactive.yaml
index 7dee0ea14c5d7ad11f572b0231383ceef77a1b19..2864aef8e6db94367064766eda4b6dabb54105f2 100644
--- a/test/yaml/processor_odom_2d_inactive.yaml
+++ b/test/yaml/processor_odom_2d_inactive.yaml
@@ -11,7 +11,7 @@ keyframe_vote:
max_buff_length: 100 #10 # motion deltas
max_dist_traveled: 100 #0.5 # meters
max_angle_turned: 0.1 # radians (1 rad approx 57 deg, approx 60 deg)
- cov_det: 100 #1 # determinant of covariance threshold
+ max_cov_det: 100 #1 # determinant of covariance threshold
unmeasured_perturbation_std: 0.001
diff --git a/yaml_templates/processor/ProcessorDiffDrive.yaml b/yaml_templates/processor/ProcessorDiffDrive.yaml
index 12587124f674a75826fff74f963ef845377fbe7d..b9f5c23c9af70f19e9c2cddae213a383845f0ebe 100644
--- a/yaml_templates/processor/ProcessorDiffDrive.yaml
+++ b/yaml_templates/processor/ProcessorDiffDrive.yaml
@@ -8,7 +8,7 @@ keyframe_vote:
max_buff_length: 0 # MANDATORY if $voting_active - DOC Maximum size of the buffer of motions. - TYPE unsigned int
max_dist_traveled: 0.0 # MANDATORY if $voting_active - DOC Distance traveled threshold to create a new frame [m]. - TYPE double
max_angle_turned: 0.0 # MANDATORY if $voting_active - DOC Angle turned threshold to create a new frame [rad]. - TYPE double
- cov_det: 0.0 # MANDATORY if $voting_active - DOC The determinant threshold of the covariance matrix of the integrated delta, to vote for a keyframe. - TYPE double
+ max_cov_det: 0.0 # MANDATORY if $voting_active - DOC The determinant threshold of the covariance matrix of the integrated delta, to vote for a keyframe. - TYPE double
apply_loss_function: false # DOC If the factors created by the processor have loss function. - TYPE bool
state_provider: false # DOC If the processor is used by the problem as provider of state. - TYPE bool
state_provider_order: 0.0 # MANDATORY if $state_provider - DOC The order number of this processor when problem gets the state (only used if state_provider = true). Two processors cannot have the same priority (if so, when installing the second is increased). - TYPE double
diff --git a/yaml_templates/processor/ProcessorOdom2d.yaml b/yaml_templates/processor/ProcessorOdom2d.yaml
index 12587124f674a75826fff74f963ef845377fbe7d..b9f5c23c9af70f19e9c2cddae213a383845f0ebe 100644
--- a/yaml_templates/processor/ProcessorOdom2d.yaml
+++ b/yaml_templates/processor/ProcessorOdom2d.yaml
@@ -8,7 +8,7 @@ keyframe_vote:
max_buff_length: 0 # MANDATORY if $voting_active - DOC Maximum size of the buffer of motions. - TYPE unsigned int
max_dist_traveled: 0.0 # MANDATORY if $voting_active - DOC Distance traveled threshold to create a new frame [m]. - TYPE double
max_angle_turned: 0.0 # MANDATORY if $voting_active - DOC Angle turned threshold to create a new frame [rad]. - TYPE double
- cov_det: 0.0 # MANDATORY if $voting_active - DOC The determinant threshold of the covariance matrix of the integrated delta, to vote for a keyframe. - TYPE double
+ max_cov_det: 0.0 # MANDATORY if $voting_active - DOC The determinant threshold of the covariance matrix of the integrated delta, to vote for a keyframe. - TYPE double
apply_loss_function: false # DOC If the factors created by the processor have loss function. - TYPE bool
state_provider: false # DOC If the processor is used by the problem as provider of state. - TYPE bool
state_provider_order: 0.0 # MANDATORY if $state_provider - DOC The order number of this processor when problem gets the state (only used if state_provider = true). Two processors cannot have the same priority (if so, when installing the second is increased). - TYPE double