From 73b6c4646d5f4e081a69aae9147e5d7200c85b58 Mon Sep 17 00:00:00 2001
From: Joan Sola <jsola@iri.upc.edu>
Date: Tue, 30 Jul 2019 09:59:19 +0200
Subject: [PATCH] Adapt to new core API regarding preintegrated calibration
params
---
src/processor/processor_IMU.cpp | 2 +-
test/gtest_IMU.cpp | 2 +-
test/gtest_feature_IMU.cpp | 2 +-
3 files changed, 3 insertions(+), 3 deletions(-)
diff --git a/src/processor/processor_IMU.cpp b/src/processor/processor_IMU.cpp
index daa57316c..0bda304c2 100644
--- a/src/processor/processor_IMU.cpp
+++ b/src/processor/processor_IMU.cpp
@@ -211,7 +211,7 @@ FeatureBasePtr ProcessorIMU::emplaceFeature(CaptureMotionPtr _capture_motion)
auto feature = FeatureBase::emplace<FeatureIMU>(_capture_motion,
_capture_motion->getBuffer().get().back().delta_integr_,
_capture_motion->getBuffer().get().back().delta_integr_cov_ + unmeasured_perturbation_cov_,
- _capture_motion->getBuffer().getCalibrationPreint(),
+ _capture_motion->getCalibrationPreint(),
_capture_motion->getBuffer().get().back().jacobian_calib_);
return feature;
}
diff --git a/test/gtest_IMU.cpp b/test/gtest_IMU.cpp
index 424fee3e2..f6044cf00 100644
--- a/test/gtest_IMU.cpp
+++ b/test/gtest_IMU.cpp
@@ -237,7 +237,7 @@ class Process_Factor_IMU : public testing::Test
*/
static MotionBuffer integrateDeltaTrajectory(const Quaternions& q0, const MatrixXs& motion, const VectorXs& bias_real, const VectorXs& bias_preint, Scalar dt, Matrix<Scalar, 9, 6>& J_D_b)
{
- MotionBuffer trajectory(6, 10, 9, 6);
+ MotionBuffer trajectory(6, 10, 9);
VectorXs Delta(10);
MatrixXs M9(9,9), M6(6,6), J9(9,9), J96(9,6), V10(10,1), V6(6,1);
Quaternions q;
diff --git a/test/gtest_feature_IMU.cpp b/test/gtest_feature_IMU.cpp
index 1c6b38afc..f5e9a0c2b 100644
--- a/test/gtest_feature_IMU.cpp
+++ b/test/gtest_feature_IMU.cpp
@@ -87,7 +87,7 @@ class FeatureIMU_test : public testing::Test
//emplace a feature
delta_preint = problem->getProcessorMotion()->getMotion().delta_integr_;
delta_preint_cov = problem->getProcessorMotion()->getMotion().delta_integr_cov_ + MatrixXs::Identity(9,9)*1e-08;
- VectorXs calib_preint = problem->getProcessorMotion()->getBuffer().getCalibrationPreint();
+ VectorXs calib_preint = problem->getProcessorMotion()->getLast()->getCalibrationPreint();
dD_db_jacobians = problem->getProcessorMotion()->getMotion().jacobian_calib_;
feat_imu = std::static_pointer_cast<FeatureIMU>(
FeatureBase::emplace<FeatureIMU>(imu_ptr,
--
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