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Working Sim3 Transform

release/4.3a0
Paul Drews 2015-02-13 09:06:08 -05:00
parent db73a0dd1d
commit 42d8e1fcb2
1 changed files with 3 additions and 3 deletions
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6
gtsam_unstable/geometry/tests/testSimilarity3.cpp
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@ -383,9 +383,9 @@ TEST(Similarity3, Optimization) {
TEST(Similarity3, Optimization2) {
Similarity3 prior = Similarity3();//Rot3::ypr(0, 0, 0), Point3(1, 2, 3), 4);
Similarity3 m1 = Similarity3(Rot3::ypr(M_PI/2.0, 0, 0), Point3(1.0, 0, 0), 1.0);
Similarity3 m2 = Similarity3(Rot3::ypr(M_PI/2.0, 0, 0), Point3(1.0, 0, 0), 1.0);
Similarity3 m3 = Similarity3(Rot3::ypr(M_PI/2.0, 0, 0), Point3(0.9, 0, 0), 1.0);
Similarity3 m4 = Similarity3(Rot3::ypr(M_PI/2.0, 0, 0), Point3(0.9, 0, 0), 1.0);
Similarity3 m2 = Similarity3(Rot3::ypr(M_PI/2.0, 0, 0), Point3(0.9, 0, 0), 1.0);
Similarity3 m3 = Similarity3(Rot3::ypr(M_PI/2.0, 0, 0), Point3(0.8, 0, 0), 1.0);
Similarity3 m4 = Similarity3(Rot3::ypr(M_PI/2.0, 0, 0), Point3(0.7, 0, 0), 1.42);
//prior.print("Goal Transform");
noiseModel::Isotropic::shared_ptr model = noiseModel::Isotropic::Sigma(7, 1);