From 42d8e1fcb2d7607fe032f75b255696842bb82f35 Mon Sep 17 00:00:00 2001 From: Paul Drews Date: Fri, 13 Feb 2015 09:06:08 -0500 Subject: [PATCH] Working Sim3 Transform --- gtsam_unstable/geometry/tests/testSimilarity3.cpp | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/gtsam_unstable/geometry/tests/testSimilarity3.cpp b/gtsam_unstable/geometry/tests/testSimilarity3.cpp index d7d12a580..9cae0ba5d 100644 --- a/gtsam_unstable/geometry/tests/testSimilarity3.cpp +++ b/gtsam_unstable/geometry/tests/testSimilarity3.cpp @@ -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);