From 7d42a010b46b84ce9e42512729304584d3028958 Mon Sep 17 00:00:00 2001
From: joanvallve <jvallve@iri.upc.edu>
Date: Thu, 8 Feb 2024 15:30:35 +0100
Subject: [PATCH] gtest proc landmark external smaller steps and covariance
---
test/gtest_processor_landmark_external.cpp | 6 +++---
1 file changed, 3 insertions(+), 3 deletions(-)
diff --git a/test/gtest_processor_landmark_external.cpp b/test/gtest_processor_landmark_external.cpp
index c16005810..218263497 100644
--- a/test/gtest_processor_landmark_external.cpp
+++ b/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
--
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