From fd8ad4ea8c64a2eef6b4e7366d6c219592b54c87 Mon Sep 17 00:00:00 2001 From: Joan Sola <jsola@iri.upc.edu> Date: Mon, 30 Oct 2017 17:37:30 +0100 Subject: [PATCH] Initialize noise_cov in odom3d sensor. --- src/sensor_odom_3D.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/sensor_odom_3D.cpp b/src/sensor_odom_3D.cpp index a2c6a7cfe..e65d2eb90 100644 --- a/src/sensor_odom_3D.cpp +++ b/src/sensor_odom_3D.cpp @@ -20,7 +20,7 @@ SensorOdom3D::SensorOdom3D(StateBlockPtr _p_ptr, StateQuaternionPtr _o_ptr, Intr min_disp_var_(params->min_disp_var), min_rot_var_(params->min_rot_var) { - // + noise_cov_ = (Eigen::Vector6s() << min_disp_var_, min_disp_var_, min_disp_var_, min_rot_var_, min_rot_var_, min_rot_var_).finished().asDiagonal(); } SensorOdom3D::~SensorOdom3D() -- GitLab