diff --git a/demos/sensor_imu.yaml b/demos/sensor_imu.yaml index dd576c839cbcd7426e6577c1a3f3f4ed469f0c8a..941b84610845f31cfed813394d85c923d2a3211b 100644 --- a/demos/sensor_imu.yaml +++ b/demos/sensor_imu.yaml @@ -1,6 +1,6 @@ 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 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 diff --git a/src/yaml/sensor_IMU_yaml.cpp b/src/yaml/sensor_IMU_yaml.cpp index e4106680f44c7b94dbd1aa6af206ac908d621cf8..ab67315b6e3c09bd431b0f88c3bcfb62bdc29078 100644 --- a/src/yaml/sensor_IMU_yaml.cpp +++ b/src/yaml/sensor_IMU_yaml.cpp @@ -27,8 +27,8 @@ static IntrinsicsBasePtr createIntrinsicsIMU(const std::string & _filename_dot_y if (config["type"].as<std::string>() == "SensorIMU") { - YAML::Node variances = config["motion variances"]; - YAML::Node kf_vote = config["keyframe vote"]; + YAML::Node variances = config["motion_variances"]; + YAML::Node kf_vote = config["keyframe_vote"]; IntrinsicsIMUPtr params = std::make_shared<IntrinsicsIMU>();