From c6e02a9dbccc88ecbb53091d7e785f41bc4f704b Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?M=C3=A9d=C3=A9ric=20Fourmy?= <mfourmy@laas.fr>
Date: Sat, 25 Jan 2020 14:53:16 +0100
Subject: [PATCH] Change YAML parameter names that were not consistent with
other plugins
---
demos/sensor_imu.yaml | 2 +-
src/yaml/sensor_IMU_yaml.cpp | 4 ++--
2 files changed, 3 insertions(+), 3 deletions(-)
diff --git a/demos/sensor_imu.yaml b/demos/sensor_imu.yaml
index dd576c839..941b84610 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 e4106680f..ab67315b6 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>();
--
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