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()
-- 
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