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Fixed another test case

release/4.3a0
dellaert 2015-03-04 22:53:17 -08:00
parent 175dae30ec
commit 23cf0a49f5
1 changed files with 2 additions and 2 deletions
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4
gtsam/slam/tests/testSmartProjectionPoseFactor.cpp
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@ -797,7 +797,7 @@ TEST( SmartProjectionPoseFactor, CheckHessian) {
// Two slightly different cameras // Two slightly different cameras
Pose3 pose2 = level_pose Pose3 pose2 = level_pose
* Pose3(Rot3::RzRyRx(-0.05, 0.0, -0.05), Point3(0, 0, 0)); * 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)); * Pose3(Rot3::RzRyRx(-0.05, 0.0, -0.05), Point3(0, 0, 0));
Camera cam2(pose2, sharedK); Camera cam2(pose2, sharedK);
Camera cam3(pose3, sharedK); Camera cam3(pose3, sharedK);
@ -832,7 +832,7 @@ TEST( SmartProjectionPoseFactor, CheckHessian) {
values.insert(x1, cam1); values.insert(x1, cam1);
values.insert(x2, cam2); values.insert(x2, cam2);
// initialize third pose with some noise, we expect it to move back to original pose_above // 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( EXPECT(
assert_equal( assert_equal(
Pose3( Pose3(