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Commit c6e02a9d authored by Médéric Fourmy's avatar Médéric Fourmy
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Change YAML parameter names that were not consistent with other plugins

parent 0fa3aae5
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2 merge requests!39release after RAL,!38After 2nd RAL submission
type: "SensorIMU" # 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: motion_variances:
a_noise: 0.053 # standard deviation of Acceleration noise (same for all the axis) in m/s2 a_noise: 0.053 # standard deviation of Acceleration noise (same for all the axis) in m/s2
w_noise: 0.0011 # standard deviation of Gyroscope noise (same for all the axis) in rad/sec w_noise: 0.0011 # standard deviation of Gyroscope noise (same for all the axis) in rad/sec
ab_initial_stdev: 0.800 # m/s2 - initial bias ab_initial_stdev: 0.800 # m/s2 - initial bias
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...@@ -27,8 +27,8 @@ static IntrinsicsBasePtr createIntrinsicsIMU(const std::string & _filename_dot_y ...@@ -27,8 +27,8 @@ static IntrinsicsBasePtr createIntrinsicsIMU(const std::string & _filename_dot_y
if (config["type"].as<std::string>() == "SensorIMU") if (config["type"].as<std::string>() == "SensorIMU")
{ {
YAML::Node variances = config["motion variances"]; YAML::Node variances = config["motion_variances"];
YAML::Node kf_vote = config["keyframe vote"]; YAML::Node kf_vote = config["keyframe_vote"];
IntrinsicsIMUPtr params = std::make_shared<IntrinsicsIMU>(); IntrinsicsIMUPtr params = std::make_shared<IntrinsicsIMU>();
......
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