From eae0e0e1dd7f8f1b97d9dad950f0f13aed17bce2 Mon Sep 17 00:00:00 2001
From: Joan Sola <jsola@iri.upc.edu>
Date: Mon, 25 Jun 2018 15:40:49 +0200
Subject: [PATCH] Fix singular covariance of feature
---
src/test/gtest_feature_IMU.cpp | 2 +-
1 file changed, 1 insertion(+), 1 deletion(-)
diff --git a/src/test/gtest_feature_IMU.cpp b/src/test/gtest_feature_IMU.cpp
index b01de0dda..9956a2914 100644
--- a/src/test/gtest_feature_IMU.cpp
+++ b/src/test/gtest_feature_IMU.cpp
@@ -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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