From 0f198dc1d63e9985af7e20d98454e8a3123bffcf Mon Sep 17 00:00:00 2001
From: dellaert <dellaert@cc.gatech.edu>
Date: Mon, 9 Mar 2015 18:00:25 -0700
Subject: [PATCH] Fixed sign of errors

---
 gtsam/slam/tests/testSmartProjectionCameraFactor.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/gtsam/slam/tests/testSmartProjectionCameraFactor.cpp b/gtsam/slam/tests/testSmartProjectionCameraFactor.cpp
index 964f3bca4..c4775521c 100644
--- a/gtsam/slam/tests/testSmartProjectionCameraFactor.cpp
+++ b/gtsam/slam/tests/testSmartProjectionCameraFactor.cpp
@@ -160,7 +160,7 @@ TEST( SmartProjectionCameraFactor, noisy ) {
 
   // Check whitened errors
   Vector expected(4);
-  expected << 7, -235, -58, 242;
+  expected << -7, 235, 58, -242;
   SmartFactor::Cameras cameras1 = factor1->cameras(values);
   Point3 point1 = *factor1->point();
   Vector actual = factor1->whitenedError(cameras1, point1);