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Commit eae0e0e1 authored by Joan Solà Ortega's avatar Joan Solà Ortega
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Fix singular covariance of feature

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src/test/gtest_feature_IMU.cpp
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......@@ -82,7 +82,7 @@ class FeatureIMU_test : public testing::Test
//create a feature
delta_preint = problem->getProcessorMotionPtr()->getMotion().delta_integr_;
delta_preint_cov = problem->getProcessorMotionPtr()->getMotion().delta_integr_cov_;
delta_preint_cov = problem->getProcessorMotionPtr()->getMotion().delta_integr_cov_ + MatrixXs::Identity(9,9)*1e-08;
VectorXs calib_preint = problem->getProcessorMotionPtr()->getBuffer().getCalibrationPreint();
dD_db_jacobians = problem->getProcessorMotionPtr()->getMotion().jacobian_calib_;
feat_imu = std::make_shared<FeatureIMU>(delta_preint,
......
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