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Fixed assert_equal and warnings

release/4.3a0
dellaert 2014-11-04 15:48:30 +01:00
parent efc2dc69fe
commit 3824fe5f90
1 changed files with 4 additions and 4 deletions
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8
gtsam_unstable/geometry/tests/testInvDepthCamera3.cpp
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@ -32,7 +32,7 @@ TEST( InvDepthFactor, Project1) {
Vector5 inv_landmark((Vector(5) << 1., 0., 1., 0., 0.));
double inv_depth(1./4);
Point2 actual_uv = inv_camera.project(inv_landmark, inv_depth);
EXPECT_DOUBLES_EQUAL(expected_uv, actual_uv,1e-8);
EXPECT(assert_equal(expected_uv, actual_uv,1e-8));
EXPECT(assert_equal(Point2(640,480), actual_uv));
}
@ -93,7 +93,7 @@ TEST( InvDepthFactor, Dproject_pose)
Matrix expected = numericalDerivative31(project_,level_pose, landmark, inv_depth);
InvDepthCamera3<Cal3_S2> inv_camera(level_pose,K);
Matrix actual;
Point2 uv = inv_camera.project(landmark, inv_depth, actual, boost::none, boost::none);
inv_camera.project(landmark, inv_depth, actual, boost::none, boost::none);
EXPECT(assert_equal(expected,actual,1e-6));
}
@ -105,7 +105,7 @@ TEST( InvDepthFactor, Dproject_landmark)
Matrix expected = numericalDerivative32(project_,level_pose, landmark, inv_depth);
InvDepthCamera3<Cal3_S2> inv_camera(level_pose,K);
Matrix actual;
Point2 uv = inv_camera.project(landmark, inv_depth, boost::none, actual, boost::none);
inv_camera.project(landmark, inv_depth, boost::none, actual, boost::none);
EXPECT(assert_equal(expected,actual,1e-7));
}
@ -117,7 +117,7 @@ TEST( InvDepthFactor, Dproject_inv_depth)
Matrix expected = numericalDerivative33(project_,level_pose, landmark, inv_depth);
InvDepthCamera3<Cal3_S2> inv_camera(level_pose,K);
Matrix actual;
Point2 uv = inv_camera.project(landmark, inv_depth, boost::none, boost::none, actual);
inv_camera.project(landmark, inv_depth, boost::none, boost::none, actual);
EXPECT(assert_equal(expected,actual,1e-7));
}