From 373b109228f925c2fe9647e64d13ac5f1595c505 Mon Sep 17 00:00:00 2001
From: Akshay Krishnan <akshay.krishnan.30@gmail.com>
Date: Mon, 14 Jun 2021 02:02:01 +0000
Subject: [PATCH] small covariance change

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

diff --git a/gtsam/slam/tests/testEssentialMatrixFactor.cpp b/gtsam/slam/tests/testEssentialMatrixFactor.cpp
index 54b12a292..19234bec2 100644
--- a/gtsam/slam/tests/testEssentialMatrixFactor.cpp
+++ b/gtsam/slam/tests/testEssentialMatrixFactor.cpp
@@ -547,7 +547,7 @@ TEST(EssentialMatrixFactor4, minimizationWithStrongCal3BundlerPrior) {
 
   // add prior factor for calibration
   Vector3 priorNoiseModelSigma;
-  priorNoiseModelSigma << 1, 1, 1;
+  priorNoiseModelSigma << 0.1, 0.1, 0.1;
   graph.emplace_shared<PriorFactor<Cal3Bundler>>(2, trueK, noiseModel::Diagonal::Sigmas(priorNoiseModelSigma));
   
   LevenbergMarquardtOptimizer optimizer(graph, initial);