From 23cf0a49f5fc26dd52ff2f03b0d3fc570e958d9b Mon Sep 17 00:00:00 2001
From: dellaert <dellaert@cc.gatech.edu>
Date: Wed, 4 Mar 2015 22:53:17 -0800
Subject: [PATCH] Fixed another test case

---
 gtsam/slam/tests/testSmartProjectionPoseFactor.cpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/gtsam/slam/tests/testSmartProjectionPoseFactor.cpp b/gtsam/slam/tests/testSmartProjectionPoseFactor.cpp
index 46a9fe98c..fcebd12a7 100644
--- a/gtsam/slam/tests/testSmartProjectionPoseFactor.cpp
+++ b/gtsam/slam/tests/testSmartProjectionPoseFactor.cpp
@@ -797,7 +797,7 @@ TEST( SmartProjectionPoseFactor, CheckHessian) {
   // Two slightly different cameras
   Pose3 pose2 = level_pose
       * Pose3(Rot3::RzRyRx(-0.05, 0.0, -0.05), Point3(0, 0, 0));
-  Pose3 pose3 = level_pose
+  Pose3 pose3 = pose2
       * Pose3(Rot3::RzRyRx(-0.05, 0.0, -0.05), Point3(0, 0, 0));
   Camera cam2(pose2, sharedK);
   Camera cam3(pose3, sharedK);
@@ -832,7 +832,7 @@ TEST( SmartProjectionPoseFactor, CheckHessian) {
   values.insert(x1, cam1);
   values.insert(x2, cam2);
   // initialize third pose with some noise, we expect it to move back to original pose_above
-  values.insert(x3, Camera(pose_above * noise_pose, sharedK));
+  values.insert(x3, Camera(pose3 * noise_pose, sharedK));
   EXPECT(
       assert_equal(
           Pose3(