From 48d8de50d095841d2c7e7b28676605be53dd15ff Mon Sep 17 00:00:00 2001
From: dellaert <dellaert@cc.gatech.edu>
Date: Wed, 4 Mar 2015 16:38:02 -0800
Subject: [PATCH] Fixed SVD unit test

---
 gtsam/slam/tests/testSmartProjectionPoseFactor.cpp | 5 +++--
 1 file changed, 3 insertions(+), 2 deletions(-)

diff --git a/gtsam/slam/tests/testSmartProjectionPoseFactor.cpp b/gtsam/slam/tests/testSmartProjectionPoseFactor.cpp
index 28b5b8c89..30636c58c 100644
--- a/gtsam/slam/tests/testSmartProjectionPoseFactor.cpp
+++ b/gtsam/slam/tests/testSmartProjectionPoseFactor.cpp
@@ -388,8 +388,9 @@ TEST( SmartProjectionPoseFactor, Factors ) {
     // createJacobianSVDFactor
     Vector1 b;
     b.setZero();
-    double s = sin(M_PI_4);
-    JacobianFactor expected(x1, s * A1, x2, s * A2, b);
+    double s = sigma * sin(M_PI_4);
+    SharedIsotropic n = noiseModel::Isotropic::Sigma(4-3, sigma);
+    JacobianFactor expected(x1, s * A1, x2, s * A2, b, n);
     EXPECT(assert_equal(expectedInformation, expected.information(), 1e-8));
 
     boost::shared_ptr<JacobianFactor> actual =