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Relax tolerance to 1e-6 for MKL/quaternion test, and fix up documentation a bit.

release/4.3a0
cbeall3 2015-08-25 12:14:52 -04:00
parent 6a5147b5b5
commit 0503df31fa
3 changed files with 12 additions and 6 deletions
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9
gtsam_unstable/slam/SmartStereoProjectionFactor.h
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@ -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:

7
gtsam_unstable/slam/SmartStereoProjectionPoseFactor.h
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@ -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 {

2
gtsam_unstable/slam/tests/testSmartStereoProjectionPoseFactor.cpp
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@ -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));