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Fix test on windows

release/4.3a0
Frank Dellaert 2024-10-28 15:14:46 -07:00
parent 2d170e4cac
commit 0836852dcb
1 changed files with 12 additions and 22 deletions
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34
gtsam/geometry/tests/testFundamentalMatrix.cpp
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@ -40,30 +40,20 @@ TEST(FundamentalMatrix, Retract) {
}
//*************************************************************************
// Test conversion from an F-matrix
// Test conversion from F matrices, including non-rotations
TEST(FundamentalMatrix, Conversion) {
const Matrix3 F = trueU.matrix() * Vector3(1, trueS, 0).asDiagonal() *
trueV.matrix().transpose();
FundamentalMatrix actual(F);
EXPECT(assert_equal(trueF, actual));
}
Matrix3 U = trueU.matrix();
Matrix3 V = trueV.matrix();
std::vector<FundamentalMatrix> Fs = {
FundamentalMatrix(U, trueS, V), FundamentalMatrix(U, trueS, -V),
FundamentalMatrix(-U, trueS, V), FundamentalMatrix(-U, trueS, -V)};
//*************************************************************************
// Test conversion with a *non-rotation* U
TEST(FlippedFundamentalMatrix, Conversion1) {
FundamentalMatrix trueF(trueU.matrix(), trueS, -trueV.matrix());
const Matrix3 F = trueF.matrix();
FundamentalMatrix actual(F);
CHECK(assert_equal(F, actual.matrix()));
}
//*************************************************************************
// Test conversion with a *non-rotation* U
TEST(FlippedFundamentalMatrix, Conversion2) {
FundamentalMatrix trueF(-trueU.matrix(), trueS, trueV.matrix());
const Matrix3 F = trueF.matrix();
FundamentalMatrix actual(F);
CHECK(assert_equal(F, actual.matrix()));
for (const auto& trueF : Fs) {
const Matrix3 F = trueF.matrix();
FundamentalMatrix actual(F);
// We check the matrices as the underlying representation is not unique
CHECK(assert_equal(F, actual.matrix()));
}
}
//*************************************************************************