Similarity3 test only for Rot3 Expmap

2020-11-11 22:46:39 -05:00 · 2020-11-11 22:46:39 -05:00 · 098e704511
parent b5284e4b3f
commit 098e704511
1 changed files with 4 additions and 0 deletions
--- a/gtsam_unstable/geometry/tests/testSimilarity3.cpp
+++ b/gtsam_unstable/geometry/tests/testSimilarity3.cpp
@ -361,8 +361,12 @@ TEST(Similarity3, AlignPose3) {

  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);
  EXPECT(assert_equal(expected_aSb, actual_aSb));
+#endif
 }

 //******************************************************************************