From 2b609389db9c459500e9318b24d7b21e91e4e5f1 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Joan=20Sol=C3=A0?= <jsola@iri.upc.edu>
Date: Sun, 19 Jun 2022 16:12:37 +0200
Subject: [PATCH] Tune test
---
demos/processor_imu.yaml | 2 +-
test/gtest_imu.cpp | 6 +++---
2 files changed, 4 insertions(+), 4 deletions(-)
diff --git a/demos/processor_imu.yaml b/demos/processor_imu.yaml
index d8400410e..813c6023e 100644
--- a/demos/processor_imu.yaml
+++ b/demos/processor_imu.yaml
@@ -13,4 +13,4 @@ keyframe_vote:
bootstrap:
enable: true
method: "G"
- averaging_length: 0.25 # seconds
\ No newline at end of file
+ averaging_length: 0.10 # seconds
\ No newline at end of file
diff --git a/test/gtest_imu.cpp b/test/gtest_imu.cpp
index b6d1b8128..b4ae8d286 100644
--- a/test/gtest_imu.cpp
+++ b/test/gtest_imu.cpp
@@ -1542,18 +1542,18 @@ TEST_F(Process_Factor_Imu_ODO, RecoverTrajectory_MotionRandom_PqV_b__pqV_b) // F
TEST_F(Process_Factor_Imu, bootstrap)
{
processor_imu->setVotingActive(true);
- processor_imu->setMaxTimeSpan(0.1);
+ processor_imu->setMaxTimeSpan(0.4);
auto KF0 = problem->emplaceFrame(0.0);
problem->keyFrameCallback(KF0,nullptr);
problem->print(4, 0, 1, 0);
// Vector6d data(0,0,9.806, 0,0,0); // gravity on Z
- Vector6d data(0.0,9.806,0.0, 0.0,0.0,0.0); // gravity on Y
+ Vector6d data(0.0, 9.806, 0.0, 0.0, 0.0, 0.0); // gravity on Y
capture_imu = std::make_shared<CaptureImu>(0.0, sensor_imu, data, Matrix6d::Identity());
- for (t = 0; t < 0.35; t += dt)
+ for (t = 0; t < 0.14; t += dt)
{
capture_imu->setTimeStamp(t);
capture_imu->process();
--
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