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Fixed priors

release/4.3a0
dellaert 2015-03-04 23:34:43 -08:00
parent 91f3cd9e63
commit 3b144a9cab
1 changed files with 3 additions and 3 deletions
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6
gtsam/slam/tests/testSmartProjectionPoseFactor.cpp
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@ -31,7 +31,7 @@
using namespace boost::assign;
static bool isDebugTest = true;
static bool isDebugTest = false;
static const double rankTol = 1.0;
static const double linThreshold = -1.0;
@ -1374,9 +1374,9 @@ TEST( SmartProjectionPoseFactor, Cal3BundlerRotationOnly ) {
graph.push_back(smartFactor3);
graph.push_back(PriorFactor<Camera>(x1, cam1, noisePrior));
graph.push_back(
PoseTranslationPrior<Pose3>(x2, positionPrior, noisePriorTranslation));
PoseTranslationPrior<Camera>(x2, positionPrior, noisePriorTranslation));
graph.push_back(
PoseTranslationPrior<Pose3>(x3, positionPrior, noisePriorTranslation));
PoseTranslationPrior<Camera>(x3, positionPrior, noisePriorTranslation));
// Pose3 noise_pose = Pose3(Rot3::ypr(-M_PI/10, 0., -M_PI/10), Point3(0.5,0.1,0.3)); // noise from regular projection factor test below
Pose3 noise_pose = Pose3(Rot3::ypr(-M_PI / 100, 0., -M_PI / 100),