From 1d277dac3a97bacdf7b0f3b671f1fec57c332c90 Mon Sep 17 00:00:00 2001
From: Joan Sola <jsola@iri.upc.edu>
Date: Fri, 22 Apr 2022 02:10:47 +0200
Subject: [PATCH] Add noise_std to sensors in yaml files
---
test/yaml/params_problem_autosetup.yaml | 1 +
test/yaml/params_problem_autosetup_no_map.yaml | 1 +
test/yaml/params_tree_manager1.yaml | 1 +
test/yaml/params_tree_manager2.yaml | 1 +
test/yaml/params_tree_manager_sliding_window1.yaml | 1 +
test/yaml/params_tree_manager_sliding_window2.yaml | 1 +
test/yaml/params_tree_manager_sliding_window_dual_rate3.yaml | 1 +
.../params_tree_manager_sliding_window_dual_rate_baseline.yaml | 1 +
test/yaml/sensor_odom_3d.yaml | 2 ++
9 files changed, 10 insertions(+)
diff --git a/test/yaml/params_problem_autosetup.yaml b/test/yaml/params_problem_autosetup.yaml
index c61eab581..019af3e3f 100644
--- a/test/yaml/params_problem_autosetup.yaml
+++ b/test/yaml/params_problem_autosetup.yaml
@@ -26,6 +26,7 @@ config:
k_rot_to_rot: 0.1
min_disp_var: 0.1
min_rot_var: 0.1
+ noise_std: [1,1]
extrinsic:
pose: [1,2,3,0,0,0,1]
processors:
diff --git a/test/yaml/params_problem_autosetup_no_map.yaml b/test/yaml/params_problem_autosetup_no_map.yaml
index 6c5ed47c2..bdf94428a 100644
--- a/test/yaml/params_problem_autosetup_no_map.yaml
+++ b/test/yaml/params_problem_autosetup_no_map.yaml
@@ -23,6 +23,7 @@ config:
k_rot_to_rot: 0.1
min_disp_var: 0.1
min_rot_var: 0.1
+ noise_std: [1,1]
extrinsic:
pose: [1,2,3,0,0,0,1]
processors:
diff --git a/test/yaml/params_tree_manager1.yaml b/test/yaml/params_tree_manager1.yaml
index 59aec3c70..427f647e5 100644
--- a/test/yaml/params_tree_manager1.yaml
+++ b/test/yaml/params_tree_manager1.yaml
@@ -29,6 +29,7 @@ config:
k_rot_to_rot: 0.1
min_disp_var: 0.1
min_rot_var: 0.1
+ noise_std: [1,1]
extrinsic:
pose: [1,2,3,0,0,0,1]
processors:
diff --git a/test/yaml/params_tree_manager2.yaml b/test/yaml/params_tree_manager2.yaml
index 419125468..43eabb5e2 100644
--- a/test/yaml/params_tree_manager2.yaml
+++ b/test/yaml/params_tree_manager2.yaml
@@ -27,6 +27,7 @@ config:
k_rot_to_rot: 0.1
min_disp_var: 0.1
min_rot_var: 0.1
+ noise_std: [1,1]
extrinsic:
pose: [1,2,3,0,0,0,1]
processors:
diff --git a/test/yaml/params_tree_manager_sliding_window1.yaml b/test/yaml/params_tree_manager_sliding_window1.yaml
index 61498d1b6..d2ccb7f39 100644
--- a/test/yaml/params_tree_manager_sliding_window1.yaml
+++ b/test/yaml/params_tree_manager_sliding_window1.yaml
@@ -27,6 +27,7 @@ config:
k_rot_to_rot: 0.1
min_disp_var: 0.1
min_rot_var: 0.1
+ noise_std: [1,1]
extrinsic:
pose: [1,2,3,0,0,0,1]
processors:
diff --git a/test/yaml/params_tree_manager_sliding_window2.yaml b/test/yaml/params_tree_manager_sliding_window2.yaml
index db0a176fc..e8de39561 100644
--- a/test/yaml/params_tree_manager_sliding_window2.yaml
+++ b/test/yaml/params_tree_manager_sliding_window2.yaml
@@ -27,6 +27,7 @@ config:
k_rot_to_rot: 0.1
min_disp_var: 0.1
min_rot_var: 0.1
+ noise_std: [1,1]
extrinsic:
pose: [1,2,3,0,0,0,1]
processors:
diff --git a/test/yaml/params_tree_manager_sliding_window_dual_rate3.yaml b/test/yaml/params_tree_manager_sliding_window_dual_rate3.yaml
index aed7a0c7e..eb33760b5 100644
--- a/test/yaml/params_tree_manager_sliding_window_dual_rate3.yaml
+++ b/test/yaml/params_tree_manager_sliding_window_dual_rate3.yaml
@@ -31,6 +31,7 @@ config:
k_rot_to_rot: 0.1
min_disp_var: 0.1
min_rot_var: 0.1
+ noise_std: [1,1]
extrinsic:
pose: [1,2,3,0,0,0,1]
processors:
diff --git a/test/yaml/params_tree_manager_sliding_window_dual_rate_baseline.yaml b/test/yaml/params_tree_manager_sliding_window_dual_rate_baseline.yaml
index d00b201f9..6ea39b80a 100644
--- a/test/yaml/params_tree_manager_sliding_window_dual_rate_baseline.yaml
+++ b/test/yaml/params_tree_manager_sliding_window_dual_rate_baseline.yaml
@@ -25,6 +25,7 @@ config:
k_rot_to_rot: 0.1
min_disp_var: 0.1
min_rot_var: 0.1
+ noise_std: [1,1]
extrinsic:
pose: [1,2,3,0,0,0,1]
processors:
diff --git a/test/yaml/sensor_odom_3d.yaml b/test/yaml/sensor_odom_3d.yaml
index 8eb2b2350..c9dac99ec 100644
--- a/test/yaml/sensor_odom_3d.yaml
+++ b/test/yaml/sensor_odom_3d.yaml
@@ -5,3 +5,5 @@ k_disp_to_rot: 0.02 # rad^2 / m
k_rot_to_rot: 0.01 # rad^2 / rad
min_disp_var: 0.01 # m^2
min_rot_var: 0.01 # rad^2
+
+noise_std: [1,1]
\ No newline at end of file
--
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