diff --git a/demos/processor_imu.yaml b/demos/processor_imu.yaml
index b86d47713885d8dd68e37daac453be25ec8af19a..5c623b82d4879cf3d9888870ef05083e050fdb91 100644
--- a/demos/processor_imu.yaml
+++ b/demos/processor_imu.yaml
@@ -1,4 +1,4 @@
-type: "IMU" # This must match the KEY used in the SensorFactory. Otherwise it is an error.
+type: "ProcessorIMU" # This must match the KEY used in the SensorFactory. Otherwise it is an error.
time_tolerance: 0.0025 # Time tolerance for joining KFs
unmeasured_perturbation_std: 0.00001
diff --git a/demos/processor_odom_3D.yaml b/demos/processor_odom_3D.yaml
index ef8f7fd145936ee32242b005c6b1cb47710460a5..c0dc6463ade663803424f87e1cc1898c61b17561 100644
--- a/demos/processor_odom_3D.yaml
+++ b/demos/processor_odom_3D.yaml
@@ -1,4 +1,4 @@
-type: "ODOM 3D" # This must match the KEY used in the SensorFactory. Otherwise it is an error.
+type: "ProcessorOdom3D" # This must match the KEY used in the SensorFactory. Otherwise it is an error.
time_tolerance: 0.01 # seconds
@@ -10,4 +10,4 @@ keyframe_vote:
dist_traveled: 0.5 # meters
angle_turned: 0.1 # radians (1 rad approx 57 deg, approx 60 deg)
-unmeasured_perturbation_std: 0.001
\ No newline at end of file
+unmeasured_perturbation_std: 0.001
diff --git a/demos/sensor_imu.yaml b/demos/sensor_imu.yaml
index 2716803c363406d38673d3cba2a2b62b181784c8..dd576c839cbcd7426e6577c1a3f3f4ed469f0c8a 100644
--- a/demos/sensor_imu.yaml
+++ b/demos/sensor_imu.yaml
@@ -1,4 +1,4 @@
-type: "IMU" # This must match the KEY used in the SensorFactory. Otherwise it is an error.
+type: "SensorIMU" # This must match the KEY used in the SensorFactory. Otherwise it is an error.
motion variances:
a_noise: 0.053 # standard deviation of Acceleration noise (same for all the axis) in m/s2
@@ -6,4 +6,4 @@ motion variances:
ab_initial_stdev: 0.800 # m/s2 - initial bias
wb_initial_stdev: 0.350 # rad/sec - initial bias
ab_rate_stdev: 0.1 # m/s2/sqrt(s)
- wb_rate_stdev: 0.0400 # rad/s/sqrt(s)
\ No newline at end of file
+ wb_rate_stdev: 0.0400 # rad/s/sqrt(s)
diff --git a/demos/sensor_odom_3D.yaml b/demos/sensor_odom_3D.yaml
index c45adb8ca809770ff3320ec81637e7a7ea556758..9fb43d4c30c0f5c01757362f6122d0cba98b14c5 100644
--- a/demos/sensor_odom_3D.yaml
+++ b/demos/sensor_odom_3D.yaml
@@ -1,4 +1,4 @@
-type: "ODOM 3D" # This must match the KEY used in the SensorFactory. Otherwise it is an error.
+type: "SensorOdom3D" # This must match the KEY used in the SensorFactory. Otherwise it is an error.
k_disp_to_disp: 0.02 # m^2 / m
k_disp_to_rot: 0.02 # rad^2 / m
diff --git a/include/IMU/factor/factor_IMU.h b/include/IMU/factor/factor_IMU.h
index 0378abb66e227f4d5de7ac48bb643e0df1ad1f97..91e573f6e6232a25346f6c0c32a981e9806c4e73 100644
--- a/include/IMU/factor/factor_IMU.h
+++ b/include/IMU/factor/factor_IMU.h
@@ -152,7 +152,7 @@ inline FactorIMU::FactorIMU(const FeatureIMUPtr& _ftr_ptr,
bool _apply_loss_function,
FactorStatus _status) :
FactorAutodiff<FactorIMU, 15, 3, 4, 3, 6, 3, 4, 3, 6>( // ...
- "IMU",
+ "FactorIMU",
_cap_origin_ptr->getFrame(),
_cap_origin_ptr,
nullptr,
diff --git a/include/IMU/factor/factor_fix_bias.h b/include/IMU/factor/factor_fix_bias.h
index 876fa5220cd41f5862574f211cec61de8f677bd3..6ab168472549ea5593d198e5a737d9664b3a9d47 100644
--- a/include/IMU/factor/factor_fix_bias.h
+++ b/include/IMU/factor/factor_fix_bias.h
@@ -20,7 +20,7 @@ class FactorFixBias: public FactorAutodiff<FactorFixBias,6,3,3>
{
public:
FactorFixBias(FeatureBasePtr _ftr_ptr, bool _apply_loss_function = false, FactorStatus _status = FAC_ACTIVE) :
- FactorAutodiff<FactorFixBias, 6, 3, 3>("FIX BIAS",
+ FactorAutodiff<FactorFixBias, 6, 3, 3>("FactorFixBias",
nullptr, nullptr, nullptr, nullptr, nullptr, _apply_loss_function, _status, std::static_pointer_cast<CaptureIMU>(_ftr_ptr->getCapture())->getAccBias(),
std::static_pointer_cast<CaptureIMU>(_ftr_ptr->getCapture())->getGyroBias())
{
diff --git a/src/capture/capture_IMU.cpp b/src/capture/capture_IMU.cpp
index 23874f1833dac6f1b3c8f92d80751443d684c13a..3fd9c4e7177cb7a3434fd2de2aef2af185b0ff83 100644
--- a/src/capture/capture_IMU.cpp
+++ b/src/capture/capture_IMU.cpp
@@ -9,7 +9,7 @@ CaptureIMU::CaptureIMU(const TimeStamp& _init_ts,
const Eigen::Vector6s& _acc_gyro_data,
const Eigen::MatrixXs& _data_cov,
CaptureBasePtr _capture_origin_ptr) :
- CaptureMotion("IMU", _init_ts, _sensor_ptr, _acc_gyro_data, _data_cov, 10, 9, _capture_origin_ptr, nullptr, nullptr, std::make_shared<StateBlock>(6, false))
+ CaptureMotion("CaptureImu", _init_ts, _sensor_ptr, _acc_gyro_data, _data_cov, 10, 9, _capture_origin_ptr, nullptr, nullptr, std::make_shared<StateBlock>(6, false))
{
//
}
@@ -20,7 +20,7 @@ CaptureIMU::CaptureIMU(const TimeStamp& _init_ts,
const Eigen::MatrixXs& _data_cov,
const Vector6s& _bias,
CaptureBasePtr _capture_origin_ptr) :
- CaptureMotion("IMU", _init_ts, _sensor_ptr, _acc_gyro_data, _data_cov, 10, 9, _capture_origin_ptr, nullptr, nullptr, std::make_shared<StateBlock>(_bias, false))
+ CaptureMotion("CaptureImu", _init_ts, _sensor_ptr, _acc_gyro_data, _data_cov, 10, 9, _capture_origin_ptr, nullptr, nullptr, std::make_shared<StateBlock>(_bias, false))
{
//
}
diff --git a/src/feature/feature_IMU.cpp b/src/feature/feature_IMU.cpp
index ee8d115e2f68b3babb7612b6748132d4ac4d6abc..32339da25e7f5a9ce0e8b8afd2b9fcba5a5d3b48 100644
--- a/src/feature/feature_IMU.cpp
+++ b/src/feature/feature_IMU.cpp
@@ -7,7 +7,7 @@ FeatureIMU::FeatureIMU(const Eigen::VectorXs& _delta_preintegrated,
const Eigen::Vector6s& _bias,
const Eigen::Matrix<Scalar,9,6>& _dD_db_jacobians,
CaptureMotionPtr _cap_imu_ptr) :
- FeatureBase("IMU", _delta_preintegrated, _delta_preintegrated_covariance),
+ FeatureBase("FeatureImu", _delta_preintegrated, _delta_preintegrated_covariance),
acc_bias_preint_(_bias.head<3>()),
gyro_bias_preint_(_bias.tail<3>()),
jacobian_bias_(_dD_db_jacobians)
@@ -15,7 +15,7 @@ FeatureIMU::FeatureIMU(const Eigen::VectorXs& _delta_preintegrated,
}
FeatureIMU::FeatureIMU(CaptureMotionPtr _cap_imu_ptr):
- FeatureBase("IMU", _cap_imu_ptr->getDeltaPreint(), _cap_imu_ptr->getDeltaPreintCov()),
+ FeatureBase("FeatureImu", _cap_imu_ptr->getDeltaPreint(), _cap_imu_ptr->getDeltaPreintCov()),
acc_bias_preint_ (_cap_imu_ptr->getCalibrationPreint().head<3>()),
gyro_bias_preint_(_cap_imu_ptr->getCalibrationPreint().tail<3>()),
jacobian_bias_(_cap_imu_ptr->getJacobianCalib())
diff --git a/src/feature/feature_apriltag.cpp b/src/feature/feature_apriltag.cpp
index 18cb89cdf9813a5112b0aa3b7769834f1318fdaf..cbde88a27391c79ef22383ad654bd12ea981a23e 100644
--- a/src/feature/feature_apriltag.cpp
+++ b/src/feature/feature_apriltag.cpp
@@ -11,7 +11,7 @@ FeatureApriltag::FeatureApriltag(const Eigen::Vector7s & _measurement,
Scalar _rep_error2,
bool _use_rotation,
UncertaintyType _uncertainty_type) :
- FeatureBase("APRILTAG", _measurement, _meas_uncertainty, _uncertainty_type),
+ FeatureBase("FeatureApriltag", _measurement, _meas_uncertainty, _uncertainty_type),
tag_id_ (_tag_id),
tag_corners_(4),
detection_ (_det),
diff --git a/src/landmark/landmark_apriltag.cpp b/src/landmark/landmark_apriltag.cpp
index 193c979b275c3e2c4a9202b90347ef376ac1f3d2..af72d5217f40aa9fad5a9e1e599d8c60157d67b0 100644
--- a/src/landmark/landmark_apriltag.cpp
+++ b/src/landmark/landmark_apriltag.cpp
@@ -7,7 +7,7 @@
namespace wolf {
LandmarkApriltag::LandmarkApriltag(Eigen::Vector7s& pose, const int& _tagid, const Scalar& _tag_width) :
- LandmarkBase("APRILTAG", std::make_shared<StateBlock>(pose.head(3)), std::make_shared<StateQuaternion>(pose.tail(4))),
+ LandmarkBase("LandmarkApriltag", std::make_shared<StateBlock>(pose.head(3)), std::make_shared<StateQuaternion>(pose.tail(4))),
tag_id_(_tagid),
tag_width_(_tag_width)
{
@@ -86,7 +86,7 @@ YAML::Node LandmarkApriltag::saveToYaml() const
// Register landmark creator
namespace
{
-const bool WOLF_UNUSED registered_lmk_apriltag = LandmarkFactory::get().registerCreator("APRILTAG", LandmarkApriltag::create);
+const bool WOLF_UNUSED registered_lmk_apriltag = LandmarkFactory::get().registerCreator("LandmarkApriltag", LandmarkApriltag::create);
}
diff --git a/src/processor/processor_IMU.cpp b/src/processor/processor_IMU.cpp
index a410afaaf843756d75efbc53d073c8bb6fe41de7..84be708f8ceedf1fd20c56d2b72523eb0dd0f12a 100644
--- a/src/processor/processor_IMU.cpp
+++ b/src/processor/processor_IMU.cpp
@@ -6,7 +6,7 @@
namespace wolf {
ProcessorIMU::ProcessorIMU(ProcessorParamsIMUPtr _params_motion_IMU) :
- ProcessorMotion("IMU", 10, 10, 9, 6, 6, _params_motion_IMU),
+ ProcessorMotion("ProcessorImu", 10, 10, 9, 6, 6, _params_motion_IMU),
params_motion_IMU_(std::make_shared<ProcessorParamsIMU>(*_params_motion_IMU))
{
// Set constant parts of Jacobians
@@ -209,5 +209,5 @@ void ProcessorIMU::deltaPlusDelta(const Eigen::VectorXs& _delta_preint,
namespace wolf
{
-WOLF_REGISTER_PROCESSOR("IMU", ProcessorIMU)
+WOLF_REGISTER_PROCESSOR("ProcessorIMU", ProcessorIMU)
}
diff --git a/src/processor/processor_tracker_landmark_apriltag.cpp b/src/processor/processor_tracker_landmark_apriltag.cpp
index 59e481187f838ee3d3687b44b56c27633b3ca105..d1223f960f44da44cd27ec0e474ac5ff9df022f4 100644
--- a/src/processor/processor_tracker_landmark_apriltag.cpp
+++ b/src/processor/processor_tracker_landmark_apriltag.cpp
@@ -33,7 +33,7 @@ namespace wolf {
// Constructor
ProcessorTrackerLandmarkApriltag::ProcessorTrackerLandmarkApriltag( ProcessorParamsTrackerLandmarkApriltagPtr _params_tracker_landmark_apriltag) :
- ProcessorTrackerLandmark("TRACKER LANDMARK APRILTAG", _params_tracker_landmark_apriltag ),
+ ProcessorTrackerLandmark("ProcessorTrackerLandmarkApriltag", _params_tracker_landmark_apriltag ),
tag_widths_(_params_tracker_landmark_apriltag->tag_widths_),
tag_width_default_(_params_tracker_landmark_apriltag->tag_width_default_),
std_xy_ (_params_tracker_landmark_apriltag->std_xy_ ),
@@ -664,6 +664,6 @@ std::string ProcessorTrackerLandmarkApriltag::getTagFamily() const
namespace wolf
{
-WOLF_REGISTER_PROCESSOR("TRACKER LANDMARK APRILTAG", ProcessorTrackerLandmarkApriltag)
+WOLF_REGISTER_PROCESSOR("ProcessorTrackerLandmarkApriltag", ProcessorTrackerLandmarkApriltag)
}
diff --git a/src/sensor/sensor_IMU.cpp b/src/sensor/sensor_IMU.cpp
index 33cd3e16ec62bfec0d656f376227405ab43f735c..ce62575a59fced40c7f64e8510be3fd7c5e100d2 100644
--- a/src/sensor/sensor_IMU.cpp
+++ b/src/sensor/sensor_IMU.cpp
@@ -11,7 +11,7 @@ SensorIMU::SensorIMU(const Eigen::VectorXs& _extrinsics, IntrinsicsIMUPtr _param
}
SensorIMU::SensorIMU(const Eigen::VectorXs& _extrinsics, const IntrinsicsIMU& _params) :
- SensorBase("IMU", std::make_shared<StateBlock>(_extrinsics.head(3), true), std::make_shared<StateQuaternion>(_extrinsics.tail(4), true), std::make_shared<StateBlock>(6, false, nullptr), (Eigen::Vector6s()<<_params.a_noise,_params.a_noise,_params.a_noise,_params.w_noise,_params.w_noise,_params.w_noise).finished(), false, true),
+ SensorBase("SensorIMU", std::make_shared<StateBlock>(_extrinsics.head(3), true), std::make_shared<StateQuaternion>(_extrinsics.tail(4), true), std::make_shared<StateBlock>(6, false, nullptr), (Eigen::Vector6s()<<_params.a_noise,_params.a_noise,_params.a_noise,_params.w_noise,_params.w_noise,_params.w_noise).finished(), false, true),
a_noise(_params.a_noise),
w_noise(_params.w_noise),
ab_initial_stdev(_params.ab_initial_stdev),
@@ -45,5 +45,5 @@ SensorBasePtr SensorIMU::create(const std::string& _unique_name, const Eigen::Ve
// Register in the SensorFactory
#include "core/sensor/sensor_factory.h"
namespace wolf {
-WOLF_REGISTER_SENSOR("IMU", SensorIMU)
+WOLF_REGISTER_SENSOR("SensorIMU", SensorIMU)
} // namespace wolf
diff --git a/src/yaml/processor_IMU_yaml.cpp b/src/yaml/processor_IMU_yaml.cpp
index a0ed780179c2e4d6bfc1f194be857dcbc9bc3b3e..8bc55f707e404dc6abfff7ed0ab77ca048b8202b 100644
--- a/src/yaml/processor_IMU_yaml.cpp
+++ b/src/yaml/processor_IMU_yaml.cpp
@@ -23,8 +23,9 @@ namespace
static ProcessorParamsBasePtr createProcessorIMUParams(const std::string & _filename_dot_yaml)
{
YAML::Node config = YAML::LoadFile(_filename_dot_yaml);
+ std::cout << _filename_dot_yaml << '\n';
- if (config["type"].as<std::string>() == "IMU")
+ if (config["type"].as<std::string>() == "ProcessorIMU")
{
YAML::Node kf_vote = config["keyframe_vote"];
@@ -46,7 +47,7 @@ static ProcessorParamsBasePtr createProcessorIMUParams(const std::string & _file
}
// Register in the SensorFactory
-const bool WOLF_UNUSED registered_prc_odom_3D = ProcessorParamsFactory::get().registerCreator("IMU", createProcessorIMUParams);
+const bool WOLF_UNUSED registered_prc_odom_3D = ProcessorParamsFactory::get().registerCreator("ProcessorIMU", createProcessorIMUParams);
} // namespace [unnamed]
diff --git a/src/yaml/sensor_IMU_yaml.cpp b/src/yaml/sensor_IMU_yaml.cpp
index 0d6d4c5d49ffa98f7db71aac0a174826a07264c1..d9a0a403ce8c98674b276e10eb79aa556eac3d05 100644
--- a/src/yaml/sensor_IMU_yaml.cpp
+++ b/src/yaml/sensor_IMU_yaml.cpp
@@ -25,7 +25,7 @@ static IntrinsicsBasePtr createIntrinsicsIMU(const std::string & _filename_dot_y
{
YAML::Node config = YAML::LoadFile(_filename_dot_yaml);
- if (config["type"].as<std::string>() == "IMU")
+ if (config["type"].as<std::string>() == "SensorIMU")
{
YAML::Node variances = config["motion variances"];
YAML::Node kf_vote = config["keyframe vote"];
@@ -47,7 +47,7 @@ static IntrinsicsBasePtr createIntrinsicsIMU(const std::string & _filename_dot_y
}
// Register in the SensorFactory
-const bool WOLF_UNUSED registered_imu_intr = IntrinsicsFactory::get().registerCreator("IMU", createIntrinsicsIMU);
+const bool WOLF_UNUSED registered_imu_intr = IntrinsicsFactory::get().registerCreator("SensorIMU", createIntrinsicsIMU);
} // namespace [unnamed]
diff --git a/test/gtest_IMU.cpp b/test/gtest_IMU.cpp
index 2e06cb01420ae2c8d3aed65d9c7ea47bf1808e1b..a6d122cf39b41e41e3a7911d14657fe0c7cdb813 100644
--- a/test/gtest_IMU.cpp
+++ b/test/gtest_IMU.cpp
@@ -97,8 +97,8 @@ class Process_Factor_IMU : public testing::Test
ceres_manager = make_shared<CeresManager>(problem, ceres_options);
// SENSOR + PROCESSOR IMU
- SensorBasePtr sensor = problem->installSensor ("IMU", "Main IMU", (Vector7s()<<0,0,0,0,0,0,1).finished(), wolf_root + "/demos/sensor_imu.yaml");
- ProcessorBasePtr processor = problem->installProcessor("IMU", "IMU pre-integrator", "Main IMU", wolf_root + "/demos/processor_imu.yaml");
+ SensorBasePtr sensor = problem->installSensor ("SensorIMU", "Main IMU", (Vector7s()<<0,0,0,0,0,0,1).finished(), wolf_root + "/demos/sensor_imu.yaml");
+ ProcessorBasePtr processor = problem->installProcessor("ProcessorIMU", "IMU pre-integrator", "Main IMU", wolf_root + "/demos/processor_imu.yaml");
sensor_imu = static_pointer_cast<SensorIMU> (sensor);
processor_imu = static_pointer_cast<ProcessorIMU>(processor);
@@ -603,8 +603,8 @@ class Process_Factor_IMU_ODO : public Process_Factor_IMU
// ===================================== ODO
string wolf_root = _WOLF_IMU_ROOT_DIR;
- SensorBasePtr sensor = problem->installSensor ("ODOM 3D", "Odometer", (Vector7s()<<0,0,0,0,0,0,1).finished(), wolf_root + "/demos/sensor_odom_3D.yaml" );
- ProcessorBasePtr processor = problem->installProcessor("ODOM 3D", "Odometer", "Odometer" , wolf_root + "/demos/processor_odom_3D.yaml");
+ SensorBasePtr sensor = problem->installSensor ("SensorOdom3D", "Odometer", (Vector7s()<<0,0,0,0,0,0,1).finished(), wolf_root + "/demos/sensor_odom_3D.yaml" );
+ ProcessorBasePtr processor = problem->installProcessor("ProcessorOdom3D", "Odometer", "Odometer" , wolf_root + "/demos/processor_odom_3D.yaml");
sensor_odo = static_pointer_cast<SensorOdom3D>(sensor);
diff --git a/test/gtest_factor_IMU.cpp b/test/gtest_factor_IMU.cpp
index f8fa7b85bcf3060d9665257c0e5121206ae67fbe..098d85d51fa966e66c17866dcf30ff1d86ca5861 100644
--- a/test/gtest_factor_IMU.cpp
+++ b/test/gtest_factor_IMU.cpp
@@ -73,8 +73,8 @@ class FactorIMU_biasTest_Static_NullBias : public testing::Test
ceres_manager_wolf_diff = new CeresManager(problem, ceres_options);
// SENSOR + PROCESSOR IMU
- SensorBasePtr sen0_ptr = problem->installSensor("IMU", "Main IMU", (Vector7s()<<0,0,0,0,0,0,1).finished(), wolf_root + "/demos/sensor_imu.yaml");
- processor_ = problem->installProcessor("IMU", "IMU pre-integrator", "Main IMU", wolf_root + "/demos/processor_imu.yaml");
+ SensorBasePtr sen0_ptr = problem->installSensor("SensorIMU", "Main IMU", (Vector7s()<<0,0,0,0,0,0,1).finished(), wolf_root + "/demos/sensor_imu.yaml");
+ processor_ = problem->installProcessor("ProcessorImu", "IMU pre-integrator", "Main IMU", wolf_root + "/demos/processor_imu.yaml");
sen_imu = std::static_pointer_cast<SensorIMU>(sen0_ptr);
processor_imu = std::static_pointer_cast<ProcessorIMU>(processor_);
@@ -161,8 +161,8 @@ class FactorIMU_biasTest_Static_NonNullAccBias : public testing::Test
ceres_manager_wolf_diff = new CeresManager(problem, ceres_options);
// SENSOR + PROCESSOR IMU
- SensorBasePtr sen0_ptr = problem->installSensor("IMU", "Main IMU", (Vector7s()<<0,0,0,0,0,0,1).finished(), wolf_root + "/demos/sensor_imu.yaml");
- processor_ = problem->installProcessor("IMU", "IMU pre-integrator", "Main IMU", wolf_root + "/demos/processor_imu.yaml");
+ SensorBasePtr sen0_ptr = problem->installSensor("SensorIMU", "Main IMU", (Vector7s()<<0,0,0,0,0,0,1).finished(), wolf_root + "/demos/sensor_imu.yaml");
+ processor_ = problem->installProcessor("ProcessorImu", "IMU pre-integrator", "Main IMU", wolf_root + "/demos/processor_imu.yaml");
sen_imu = std::static_pointer_cast<SensorIMU>(sen0_ptr);
processor_imu = std::static_pointer_cast<ProcessorIMU>(processor_);
@@ -245,8 +245,8 @@ class FactorIMU_biasTest_Static_NonNullGyroBias : public testing::Test
ceres_manager_wolf_diff = new CeresManager(problem, ceres_options);
// SENSOR + PROCESSOR IMU
- SensorBasePtr sen0_ptr = problem->installSensor("IMU", "Main IMU", (Vector7s()<<0,0,0,0,0,0,1).finished(), wolf_root + "/demos/sensor_imu.yaml");
- processor_ = problem->installProcessor("IMU", "IMU pre-integrator", "Main IMU", wolf_root + "/demos/processor_imu.yaml");
+ SensorBasePtr sen0_ptr = problem->installSensor("SensorIMU", "Main IMU", (Vector7s()<<0,0,0,0,0,0,1).finished(), wolf_root + "/demos/sensor_imu.yaml");
+ processor_ = problem->installProcessor("ProcessorImu", "IMU pre-integrator", "Main IMU", wolf_root + "/demos/processor_imu.yaml");
sen_imu = std::static_pointer_cast<SensorIMU>(sen0_ptr);
processor_imu = std::static_pointer_cast<ProcessorIMU>(processor_);
@@ -329,8 +329,8 @@ class FactorIMU_biasTest_Static_NonNullBias : public testing::Test
ceres_manager_wolf_diff = new CeresManager(problem, ceres_options);
// SENSOR + PROCESSOR IMU
- SensorBasePtr sen0_ptr = problem->installSensor("IMU", "Main IMU", (Vector7s()<<0,0,0,0,0,0,1).finished(), wolf_root + "/demos/sensor_imu.yaml");
- processor_ = problem->installProcessor("IMU", "IMU pre-integrator", "Main IMU", wolf_root + "/demos/processor_imu.yaml");
+ SensorBasePtr sen0_ptr = problem->installSensor("SensorIMU", "Main IMU", (Vector7s()<<0,0,0,0,0,0,1).finished(), wolf_root + "/demos/sensor_imu.yaml");
+ processor_ = problem->installProcessor("ProcessorImu", "IMU pre-integrator", "Main IMU", wolf_root + "/demos/processor_imu.yaml");
sen_imu = std::static_pointer_cast<SensorIMU>(sen0_ptr);
processor_imu = std::static_pointer_cast<ProcessorIMU>(processor_);
@@ -415,8 +415,8 @@ class FactorIMU_biasTest_Move_NullBias : public testing::Test
ceres_manager_wolf_diff = new CeresManager(problem, ceres_options);
// SENSOR + PROCESSOR IMU
- SensorBasePtr sen0_ptr = problem->installSensor("IMU", "Main IMU", (Vector7s()<<0,0,0,0,0,0,1).finished(), wolf_root + "/demos/sensor_imu.yaml");
- processor_ = problem->installProcessor("IMU", "IMU pre-integrator", "Main IMU", wolf_root + "/demos/processor_imu.yaml");
+ SensorBasePtr sen0_ptr = problem->installSensor("SensorIMU", "Main IMU", (Vector7s()<<0,0,0,0,0,0,1).finished(), wolf_root + "/demos/sensor_imu.yaml");
+ processor_ = problem->installProcessor("ProcessorImu", "IMU pre-integrator", "Main IMU", wolf_root + "/demos/processor_imu.yaml");
sen_imu = std::static_pointer_cast<SensorIMU>(sen0_ptr);
processor_imu = std::static_pointer_cast<ProcessorIMU>(processor_);
@@ -502,8 +502,8 @@ class FactorIMU_biasTest_Move_NonNullBias : public testing::Test
ceres_manager_wolf_diff = new CeresManager(problem, ceres_options);
// SENSOR + PROCESSOR IMU
- SensorBasePtr sen0_ptr = problem->installSensor("IMU", "Main IMU", (Vector7s()<<0,0,0,0,0,0,1).finished(), wolf_root + "/demos/sensor_imu.yaml");
- processor_ = problem->installProcessor("IMU", "IMU pre-integrator", "Main IMU", wolf_root + "/demos/processor_imu.yaml");
+ SensorBasePtr sen0_ptr = problem->installSensor("SensorIMU", "Main IMU", (Vector7s()<<0,0,0,0,0,0,1).finished(), wolf_root + "/demos/sensor_imu.yaml");
+ processor_ = problem->installProcessor("ProcessorImu", "IMU pre-integrator", "Main IMU", wolf_root + "/demos/processor_imu.yaml");
sen_imu = std::static_pointer_cast<SensorIMU>(sen0_ptr);
processor_imu = std::static_pointer_cast<ProcessorIMU>(processor_);
@@ -585,8 +585,8 @@ class FactorIMU_biasTest_Move_NonNullBiasRotCst : public testing::Test
ceres_manager_wolf_diff = new CeresManager(problem, ceres_options);
// SENSOR + PROCESSOR IMU
- SensorBasePtr sen0_ptr = problem->installSensor("IMU", "Main IMU", (Vector7s()<<0,0,0,0,0,0,1).finished(), wolf_root + "/demos/sensor_imu.yaml");
- processor_ = problem->installProcessor("IMU", "IMU pre-integrator", "Main IMU", wolf_root + "/demos/processor_imu.yaml");
+ SensorBasePtr sen0_ptr = problem->installSensor("SensorIMU", "Main IMU", (Vector7s()<<0,0,0,0,0,0,1).finished(), wolf_root + "/demos/sensor_imu.yaml");
+ processor_ = problem->installProcessor("ProcessorImu", "IMU pre-integrator", "Main IMU", wolf_root + "/demos/processor_imu.yaml");
sen_imu = std::static_pointer_cast<SensorIMU>(sen0_ptr);
processor_imu = std::static_pointer_cast<ProcessorIMU>(processor_);
@@ -678,8 +678,8 @@ class FactorIMU_biasTest_Move_NonNullBiasRotAndVCst : public testing::Test
ceres_manager_wolf_diff = new CeresManager(problem, ceres_options);
// SENSOR + PROCESSOR IMU
- SensorBasePtr sen0_ptr = problem->installSensor("IMU", "Main IMU", (Vector7s()<<0,0,0,0,0,0,1).finished(), wolf_root + "/demos/sensor_imu.yaml");
- processor_ = problem->installProcessor("IMU", "IMU pre-integrator", "Main IMU", wolf_root + "/demos/processor_imu.yaml");
+ SensorBasePtr sen0_ptr = problem->installSensor("SensorIMU", "Main IMU", (Vector7s()<<0,0,0,0,0,0,1).finished(), wolf_root + "/demos/sensor_imu.yaml");
+ processor_ = problem->installProcessor("ProcessorImu", "IMU pre-integrator", "Main IMU", wolf_root + "/demos/processor_imu.yaml");
sen_imu = std::static_pointer_cast<SensorIMU>(sen0_ptr);
processor_imu = std::static_pointer_cast<ProcessorIMU>(processor_);
@@ -779,8 +779,8 @@ class FactorIMU_biasTest_Move_NonNullBiasRot : public testing::Test
ceres_manager_wolf_diff = new CeresManager(problem, ceres_options);
// SENSOR + PROCESSOR IMU
- SensorBasePtr sen0_ptr = problem->installSensor("IMU", "Main IMU", (Vector7s()<<0,0,0,0,0,0,1).finished(), wolf_root + "/demos/sensor_imu.yaml");
- processor_ = problem->installProcessor("IMU", "IMU pre-integrator", "Main IMU", wolf_root + "/demos/processor_imu.yaml");
+ SensorBasePtr sen0_ptr = problem->installSensor("SensorIMU", "Main IMU", (Vector7s()<<0,0,0,0,0,0,1).finished(), wolf_root + "/demos/sensor_imu.yaml");
+ processor_ = problem->installProcessor("ProcessorImu", "IMU pre-integrator", "Main IMU", wolf_root + "/demos/processor_imu.yaml");
sen_imu = std::static_pointer_cast<SensorIMU>(sen0_ptr);
processor_imu = std::static_pointer_cast<ProcessorIMU>(processor_);
@@ -879,9 +879,9 @@ class FactorIMU_ODOM_biasTest_Move_NonNullBiasRot : public testing::Test
ceres_manager = std::make_shared<CeresManager>(problem, ceres_options);
// SENSOR + PROCESSOR IMU
- sensor = problem->installSensor("IMU", "Main IMU", (Vector7s()<<0,0,0,0,0,0,1).finished(), wolf_root + "/demos/sensor_imu.yaml");
+ sensor = problem->installSensor("SensorIMU", "Main IMU", (Vector7s()<<0,0,0,0,0,0,1).finished(), wolf_root + "/demos/sensor_imu.yaml");
sensor_imu = std::static_pointer_cast<SensorIMU>(sensor);
- processor = problem->installProcessor("IMU", "IMU pre-integrator", "Main IMU", wolf_root + "/demos/processor_imu.yaml");
+ processor = problem->installProcessor("ProcessorImu", "IMU pre-integrator", "Main IMU", wolf_root + "/demos/processor_imu.yaml");
processor_imu = std::static_pointer_cast<ProcessorIMU>(processor);
// SENSOR + PROCESSOR ODOM 3D
@@ -1062,8 +1062,8 @@ class FactorIMU_ODOM_biasTest_Move_NonNullBiasRotY : public testing::Test
ceres_manager_wolf_diff = new CeresManager(problem, ceres_options);
// SENSOR + PROCESSOR IMU
- SensorBasePtr sen0_ptr = problem->installSensor("IMU", "Main IMU", (Vector7s()<<0,0,0,0,0,0,1).finished(), wolf_root + "/demos/sensor_imu.yaml");
- processor_ = problem->installProcessor("IMU", "IMU pre-integrator", "Main IMU", wolf_root + "/demos/processor_imu.yaml");
+ SensorBasePtr sen0_ptr = problem->installSensor("SensorIMU", "Main IMU", (Vector7s()<<0,0,0,0,0,0,1).finished(), wolf_root + "/demos/sensor_imu.yaml");
+ processor_ = problem->installProcessor("ProcessorImu", "IMU pre-integrator", "Main IMU", wolf_root + "/demos/processor_imu.yaml");
sen_imu = std::static_pointer_cast<SensorIMU>(sen0_ptr);
processor_imu = std::static_pointer_cast<ProcessorIMU>(processor_);
@@ -1204,8 +1204,8 @@ class FactorIMU_ODOM_biasTest_Move_NonNullBiasRotXY : public testing::Test
ceres_manager_wolf_diff = std::make_shared<CeresManager>(problem, ceres_options);
// SENSOR + PROCESSOR IMU
- SensorBasePtr sen0_ptr = problem->installSensor("IMU", "Main IMU", (Vector7s()<<0,0,0,0,0,0,1).finished(), wolf_root + "/demos/sensor_imu.yaml");
- processor = problem->installProcessor("IMU", "IMU pre-integrator", "Main IMU", wolf_root + "/demos/processor_imu.yaml");
+ SensorBasePtr sen0_ptr = problem->installSensor("SensorIMU", "Main IMU", (Vector7s()<<0,0,0,0,0,0,1).finished(), wolf_root + "/demos/sensor_imu.yaml");
+ processor = problem->installProcessor("ProcessorImu", "IMU pre-integrator", "Main IMU", wolf_root + "/demos/processor_imu.yaml");
sen_imu = std::static_pointer_cast<SensorIMU>(sen0_ptr);
processor_imu = std::static_pointer_cast<ProcessorIMU>(processor);
diff --git a/test/gtest_feature_IMU.cpp b/test/gtest_feature_IMU.cpp
index f5e9a0c2b4b987cad4373bbb6e48de0c4149b284..a6d6481ade64188f6f87b5585b6145d053f7c151 100644
--- a/test/gtest_feature_IMU.cpp
+++ b/test/gtest_feature_IMU.cpp
@@ -38,13 +38,13 @@ class FeatureIMU_test : public testing::Test
Eigen::VectorXs IMU_extrinsics(7);
IMU_extrinsics << 0,0,0, 0,0,0,1; // IMU pose in the robot
IntrinsicsIMUPtr sen_imu_params = std::make_shared<IntrinsicsIMU>();
- SensorBasePtr sensor_ptr = problem->installSensor("IMU", "Main IMU", IMU_extrinsics, sen_imu_params);
+ SensorBasePtr sensor_ptr = problem->installSensor("SensorIMU", "Main IMU", IMU_extrinsics, sen_imu_params);
ProcessorParamsIMUPtr prc_imu_params = std::make_shared<ProcessorParamsIMU>();
prc_imu_params->max_time_span = 0.5;
prc_imu_params->max_buff_length = 10;
prc_imu_params->dist_traveled = 5;
prc_imu_params->angle_turned = 0.5;
- processor_ptr_ = problem->installProcessor("IMU", "IMU pre-integrator", sensor_ptr, prc_imu_params);
+ processor_ptr_ = problem->installProcessor("ProcessorIMU", "IMU pre-integrator", sensor_ptr, prc_imu_params);
// Time and data variables
TimeStamp t;
diff --git a/test/gtest_processor_IMU.cpp b/test/gtest_processor_IMU.cpp
index 9c51e9c2b327f4af0b86210525ab01f27eee4005..2f9413f0fe840d98f819b1cad5abda7a508cb40d 100644
--- a/test/gtest_processor_IMU.cpp
+++ b/test/gtest_processor_IMU.cpp
@@ -53,8 +53,8 @@ class ProcessorIMUt : public testing::Test
// Wolf problem
problem = Problem::create("POV", 3);
Vector7s extrinsics = (Vector7s() << 0,0,0, 0,0,0,1).finished();
- sensor_ptr = problem->installSensor("IMU", "Main IMU", extrinsics, wolf_root + "/demos/sensor_imu.yaml");
- ProcessorBasePtr processor_ptr = problem->installProcessor("IMU", "IMU pre-integrator", "Main IMU", wolf_root + "/demos/processor_imu.yaml");
+ sensor_ptr = problem->installSensor("SensorIMU", "Main IMU", extrinsics, wolf_root + "/demos/sensor_imu.yaml");
+ ProcessorBasePtr processor_ptr = problem->installProcessor("ProcessorIMU", "IMU pre-integrator", "Main IMU", wolf_root + "/demos/processor_imu.yaml");
// Time and data variables
data = Vector6s::Zero();
@@ -102,16 +102,16 @@ TEST(ProcessorIMU_constructors, ALL)
std::string wolf_root = _WOLF_IMU_ROOT_DIR;
ProblemPtr problem = Problem::create("POV", 3);
Vector7s extrinsics = (Vector7s()<<1,0,0, 0,0,0,1).finished();
- SensorBasePtr sensor_ptr = problem->installSensor("IMU", "Main IMU", extrinsics, wolf_root + "/demos/sensor_imu.yaml");
+ SensorBasePtr sensor_ptr = problem->installSensor("SensorIMU", "Main IMU", extrinsics, wolf_root + "/demos/sensor_imu.yaml");
ProcessorParamsIMUPtr params_default = std::make_shared<ProcessorParamsIMU>();
- ProcessorBasePtr processor_ptr = problem->installProcessor("IMU", "IMU pre-integrator", sensor_ptr, params_default);
+ ProcessorBasePtr processor_ptr = problem->installProcessor("ProcessorIMU", "IMU pre-integrator", sensor_ptr, params_default);
ASSERT_EQ(std::static_pointer_cast<ProcessorIMU>(processor_ptr)->getMaxTimeSpan(), params_default->max_time_span);
ASSERT_EQ(std::static_pointer_cast<ProcessorIMU>(processor_ptr)->getMaxBuffLength(), params_default->max_buff_length);
ASSERT_EQ(std::static_pointer_cast<ProcessorIMU>(processor_ptr)->getDistTraveled(), params_default->dist_traveled);
ASSERT_EQ(std::static_pointer_cast<ProcessorIMU>(processor_ptr)->getAngleTurned(), params_default->angle_turned);
//Factory constructor with yaml
- processor_ptr = problem->installProcessor("IMU", "Sec IMU pre-integrator", "Main IMU", wolf_root + "/demos/processor_imu.yaml");
+ processor_ptr = problem->installProcessor("ProcessorIMU", "Sec IMU pre-integrator", "Main IMU", wolf_root + "/demos/processor_imu.yaml");
ASSERT_EQ(std::static_pointer_cast<ProcessorIMU>(processor_ptr)->getMaxTimeSpan(), 2.0);
ASSERT_EQ(std::static_pointer_cast<ProcessorIMU>(processor_ptr)->getMaxBuffLength(), 20000);
ASSERT_EQ(std::static_pointer_cast<ProcessorIMU>(processor_ptr)->getDistTraveled(), 2.0);
@@ -132,14 +132,14 @@ TEST(ProcessorIMU, voteForKeyFrame)
// Wolf problem
ProblemPtr problem = Problem::create("POV", 3);
Vector7s extrinsics = (Vector7s()<<1,0,0, 0,0,0,1).finished();
- SensorBasePtr sensor_ptr = problem->installSensor("IMU", "Main IMU", extrinsics, wolf_root + "/demos/sensor_imu.yaml");
+ SensorBasePtr sensor_ptr = problem->installSensor("SensorIMU", "Main IMU", extrinsics, wolf_root + "/demos/sensor_imu.yaml");
ProcessorParamsIMUPtr prc_imu_params = std::make_shared<ProcessorParamsIMU>();
prc_imu_params->max_time_span = 1;
prc_imu_params->max_buff_length = 1000000000; //make it very high so that this condition will not pass
prc_imu_params->dist_traveled = 1000000000;
prc_imu_params->angle_turned = 1000000000;
prc_imu_params->voting_active = true;
- ProcessorBasePtr processor_ptr = problem->installProcessor("IMU", "IMU pre-integrator", sensor_ptr, prc_imu_params);
+ ProcessorBasePtr processor_ptr = problem->installProcessor("ProcessorIMU", "IMU pre-integrator", sensor_ptr, prc_imu_params);
//setting origin
VectorXs x0(10);