From 0503df31fa8a3a5facaa745bbfea4916e0530135 Mon Sep 17 00:00:00 2001
From: cbeall3 <cbeall3@gatech.edu>
Date: Tue, 25 Aug 2015 12:14:52 -0400
Subject: [PATCH] Relax tolerance to 1e-6 for MKL/quaternion test, and fix up
 documentation a bit.

---
 gtsam_unstable/slam/SmartStereoProjectionFactor.h        | 9 ++++++---
 gtsam_unstable/slam/SmartStereoProjectionPoseFactor.h    | 7 +++++--
 .../slam/tests/testSmartStereoProjectionPoseFactor.cpp   | 2 +-
 3 files changed, 12 insertions(+), 6 deletions(-)

diff --git a/gtsam_unstable/slam/SmartStereoProjectionFactor.h b/gtsam_unstable/slam/SmartStereoProjectionFactor.h
index d3dca11e0..c12bf8d94 100644
--- a/gtsam_unstable/slam/SmartStereoProjectionFactor.h
+++ b/gtsam_unstable/slam/SmartStereoProjectionFactor.h
@@ -11,7 +11,7 @@
 
 /**
  * @file   SmartStereoProjectionFactor.h
- * @brief  Base class to create smart factors on poses or cameras
+ * @brief  Smart stereo factor on StereoCameras (pose + calibration)
  * @author Luca Carlone
  * @author Zsolt Kira
  * @author Frank Dellaert
@@ -123,8 +123,11 @@ enum DegeneracyMode {
 
 /**
  * SmartStereoProjectionFactor: triangulates point and keeps an estimate of it around.
- * This factor operates with StereoCamrea. This factor requires that values
- * contains the involved camera poses. Calibration is assumed to be fixed.
+ * This factor operates with StereoCamera. This factor requires that values
+ * contains the involved StereoCameras. Calibration is assumed to be fixed, as this
+ * is also assumed in StereoCamera.
+ * If you'd like to store poses in values instead of cameras, use
+ * SmartStereoProjectionPoseFactor instead
 */
 class SmartStereoProjectionFactor: public SmartFactorBase<StereoCamera> {
 private:
diff --git a/gtsam_unstable/slam/SmartStereoProjectionPoseFactor.h b/gtsam_unstable/slam/SmartStereoProjectionPoseFactor.h
index 061c67a08..c9d8ec285 100644
--- a/gtsam_unstable/slam/SmartStereoProjectionPoseFactor.h
+++ b/gtsam_unstable/slam/SmartStereoProjectionPoseFactor.h
@@ -11,7 +11,7 @@
 
 /**
  * @file   SmartStereoProjectionPoseFactor.h
- * @brief  Produces an Hessian factors on POSES from monocular measurements of a single landmark
+ * @brief  Smart stereo factor on poses, assuming camera calibration is fixed
  * @author Luca Carlone
  * @author Chris Beall
  * @author Zsolt Kira
@@ -35,7 +35,10 @@ namespace gtsam {
  */
 
 /**
- * The calibration is known here. The factor only constraints poses (variable dimension is 6)
+ * This factor assumes that camera calibration is fixed, but each camera
+ * has its own calibration.
+ * The factor only constrains poses (variable dimension is 6).
+ * This factor requires that values contains the involved poses (Pose3).
  * @addtogroup SLAM
  */
 class SmartStereoProjectionPoseFactor: public SmartStereoProjectionFactor {
diff --git a/gtsam_unstable/slam/tests/testSmartStereoProjectionPoseFactor.cpp b/gtsam_unstable/slam/tests/testSmartStereoProjectionPoseFactor.cpp
index 89c9c020a..3b16a9db8 100644
--- a/gtsam_unstable/slam/tests/testSmartStereoProjectionPoseFactor.cpp
+++ b/gtsam_unstable/slam/tests/testSmartStereoProjectionPoseFactor.cpp
@@ -1089,7 +1089,7 @@ TEST( SmartStereoProjectionPoseFactor, HessianWithRotationDegenerate ) {
   // Hessian is invariant to rotations in the nondegenerate case
   EXPECT(
       assert_equal(hessianFactor->information(),
-          hessianFactorRot->information(), 1e-7));
+          hessianFactorRot->information(), 1e-6));
 
   Pose3 poseDrift2 = Pose3(Rot3::ypr(-M_PI / 2, -M_PI / 3, -M_PI / 2),
       Point3(10, -4, 5));