From 4ef9d1e9381a19145667b0ad79983360aaaa9b1b Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Joan=20Sol=C3=A0?= <jsola@iri.upc.edu>
Date: Sun, 11 Sep 2022 16:16:36 +0200
Subject: [PATCH] Follow core:477 anisotropic noise in SensorPose
---
test/gtest_imu_mocap_fusion.cpp | 8 ++++++--
1 file changed, 6 insertions(+), 2 deletions(-)
diff --git a/test/gtest_imu_mocap_fusion.cpp b/test/gtest_imu_mocap_fusion.cpp
index 34cf49484..a2a4dda33 100644
--- a/test/gtest_imu_mocap_fusion.cpp
+++ b/test/gtest_imu_mocap_fusion.cpp
@@ -117,8 +117,12 @@ class ImuMocapFusion_Test : public testing::Test
// pose sensor and proc (to get extrinsics in the prb)
auto intr_sp = std::make_shared<ParamsSensorPose>();
- intr_sp->std_p = 0.001;
- intr_sp->std_o = 0.001;
+ intr_sp->std_px = 0.001;
+ intr_sp->std_py = 0.001;
+ intr_sp->std_pz = 0.001;
+ intr_sp->std_ox = 0.001;
+ intr_sp->std_oy = 0.001;
+ intr_sp->std_oz = 0.001;
Vector7d extr; extr << 0,0,0, 0,0,0,1;
sensor_pose_ = problem_->installSensor("SensorPose", "pose", extr, intr_sp);
auto params_proc = std::make_shared<ParamsProcessorPose>();
--
GitLab