From 3558da9c4cf55540db4a131527b2b93f6e568954 Mon Sep 17 00:00:00 2001 From: dellaert Date: Wed, 11 Mar 2015 07:04:02 -0700 Subject: [PATCH] Fixed SVD factor --- gtsam/slam/tests/testSmartProjectionPoseFactor.cpp | 7 ++++--- 1 file changed, 4 insertions(+), 3 deletions(-) diff --git a/gtsam/slam/tests/testSmartProjectionPoseFactor.cpp b/gtsam/slam/tests/testSmartProjectionPoseFactor.cpp index 526e9bfdb..c77616793 100644 --- a/gtsam/slam/tests/testSmartProjectionPoseFactor.cpp +++ b/gtsam/slam/tests/testSmartProjectionPoseFactor.cpp @@ -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(x3).pose(), 1e-8));