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Fixed SVD factor

release/4.3a0
dellaert 2015-03-11 07:04:02 -07:00
parent 62868b9071
commit 3558da9c4c
1 changed files with 4 additions and 3 deletions
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7
gtsam/slam/tests/testSmartProjectionPoseFactor.cpp
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@ -501,15 +501,15 @@ TEST( SmartProjectionPoseFactor, jacobianSVD ) {
projectToMultipleCameras(cam1, cam2, cam3, landmark3, measurements_cam3);
SmartFactor::shared_ptr smartFactor1(
new SmartFactor(SmartFactor::JACOBIAN_SVD, 1, -1, false, false));
new SmartFactor(SmartFactor::JACOBIAN_SVD, 1, false, false));
smartFactor1->add(measurements_cam1, views, model);
SmartFactor::shared_ptr smartFactor2(
new SmartFactor(SmartFactor::JACOBIAN_SVD, 1, -1, false, false));
new SmartFactor(SmartFactor::JACOBIAN_SVD, 1, false, false));
smartFactor2->add(measurements_cam2, views, model);
SmartFactor::shared_ptr smartFactor3(
new SmartFactor(SmartFactor::JACOBIAN_SVD, 1, -1, false, false));
new SmartFactor(SmartFactor::JACOBIAN_SVD, 1, false, false));
smartFactor3->add(measurements_cam3, views, model);
const SharedDiagonal noisePrior = noiseModel::Isotropic::Sigma(6, 0.10);
@ -530,6 +530,7 @@ TEST( SmartProjectionPoseFactor, jacobianSVD ) {
values.insert(x3, Camera(pose_above * noise_pose, sharedK));
Values result;
params.verbosityLM = LevenbergMarquardtParams::SUMMARY;
LevenbergMarquardtOptimizer optimizer(graph, values, params);
result = optimizer.optimize();
EXPECT(assert_equal(pose_above, result.at<Camera>(x3).pose(), 1e-8));