gtest proc landmark external smaller steps and covariance

test/gtest_processor_landmark_external.cpp

@@ -211,7 +211,7 @@ void ProcessorLandmarkExternalTest::randomStep()
     MatrixXd delta_cov;
     if (dim == 2)
     {
-        delta     = Vector2d::Random() * 5;
+        delta     = Vector2d::Random() * 0.1;
         delta_cov = Matrix2d::Identity() * 0.1;
     }
     else
@@ -260,8 +260,8 @@ CaptureLandmarksExternalPtr ProcessorLandmarkExternalTest::computeCaptureLandmar
                         .coeffs();
         }
         // cov
-        MatrixXd cov = MatrixXd::Identity(meas.size(), meas.size());
-        if (orientation and dim != 2) cov = MatrixXd::Identity(6, 6);
+        MatrixXd cov = 0.01 * MatrixXd::Identity(meas.size(), meas.size());
+        if (orientation and dim != 2) cov = 0.01 * MatrixXd::Identity(6, 6);
 
         // quality
         double quality = (double)i / (double)(landmarks.size() - 1);  // increasing from 0 to 1