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Similarity3 test only for Rot3 Expmap

release/4.3a0
Varun Agrawal 2020-11-11 22:46:39 -05:00
parent b5284e4b3f
commit 098e704511
1 changed files with 4 additions and 0 deletions
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gtsam_unstable/geometry/tests/testSimilarity3.cpp
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@ -361,8 +361,12 @@ TEST(Similarity3, AlignPose3) {
vector<Pose3Pair> correspondences{bTa1, bTa2}; vector<Pose3Pair> correspondences{bTa1, bTa2};
// Cayley transform cannot accommodate 180 degree rotations,
// hence we only test for Expmap
#ifdef GTSAM_ROT3_EXPMAP
Similarity3 actual_aSb = Similarity3::Align(correspondences); Similarity3 actual_aSb = Similarity3::Align(correspondences);
EXPECT(assert_equal(expected_aSb, actual_aSb)); EXPECT(assert_equal(expected_aSb, actual_aSb));
#endif
} }
//****************************************************************************** //******************************************************************************