diff --git a/src/test/gtest_feature_imu.cpp b/src/test/gtest_feature_imu.cpp index bf0956ac15fbeb34f65fbcd227d88382637a7093..6609f97080de513b1d01ee73f749ff1685490332 100644 --- a/src/test/gtest_feature_imu.cpp +++ b/src/test/gtest_feature_imu.cpp @@ -52,12 +52,13 @@ class FeatureIMU_test : public testing::Test // Set the origin Eigen::VectorXs x0(10); x0 << 0,0,0, 0,0,0,1, 0,0,0; - origin_frame = problem->getProcessorMotionPtr()->setOrigin(x0, t); //create a keyframe at origin + MatrixXs P0; P0.setIdentity(9,9); + origin_frame = problem->setPrior(x0, P0, 0.0, 0.01); // Create one capture to store the IMU data arriving from (sensor / callback / file / etc.) // give the capture a big covariance, otherwise it will be so small that it won't pass following assertions imu_ptr = std::make_shared<CaptureIMU>(t, sensor_ptr, data_, Eigen::Matrix6s::Identity(), Eigen::Vector6s::Zero()); - imu_ptr->setFramePtr(origin_frame); //to get ptr to Frm ni processorIMU and then get biases + imu_ptr->setFramePtr(origin_frame); //to get ptr to Frm in processorIMU and then get biases //process data data_ << 2, 0, 9.8, 0, 0, 0;