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Fixed another test case

release/4.3a0
dellaert 2015-03-04 23:04:32 -08:00
parent 26f2b33c47
commit 485fabeae6
1 changed files with 2 additions and 2 deletions
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4
gtsam/slam/tests/testSmartProjectionPoseFactor.cpp
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@ -1317,7 +1317,7 @@ TEST( SmartProjectionPoseFactor, Cal3BundlerRotationOnly ) {
// Two different cameras // Two different cameras
Pose3 pose2 = level_pose Pose3 pose2 = level_pose
* Pose3(Rot3::RzRyRx(-0.05, 0.0, -0.05), Point3(0, 0, 0)); * Pose3(Rot3::RzRyRx(-0.05, 0.0, -0.05), Point3(0, 0, 0));
Pose3 pose3 = level_pose Pose3 pose3 = pose2
* Pose3(Rot3::RzRyRx(-0.05, 0.0, -0.05), Point3(0, 0, 0)); * Pose3(Rot3::RzRyRx(-0.05, 0.0, -0.05), Point3(0, 0, 0));
Camera cam2(pose2, sharedBundlerK); Camera cam2(pose2, sharedBundlerK);
Camera cam3(pose3, sharedBundlerK); Camera cam3(pose3, sharedBundlerK);
@ -1385,7 +1385,7 @@ TEST( SmartProjectionPoseFactor, Cal3BundlerRotationOnly ) {
values.insert(x1, cam1); values.insert(x1, cam1);
values.insert(x2, cam2); values.insert(x2, cam2);
// initialize third pose with some noise, we expect it to move back to original pose_above // initialize third pose with some noise, we expect it to move back to original pose_above
values.insert(x3, Camera(pose_above * noise_pose, sharedBundlerK)); values.insert(x3, Camera(pose3 * noise_pose, sharedBundlerK));
EXPECT( EXPECT(
assert_equal( assert_equal(
Pose3( Pose3(