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release/4.3a0
dellaert 2014-10-23 01:44:04 +02:00
parent 9b35206a4f
commit 49ff33602d
1 changed files with 3 additions and 8 deletions
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11
gtsam_unstable/nonlinear/tests/testAdaptAutoDiff.cpp
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@ -189,12 +189,7 @@ TEST(Expression, AutoDiff3) {
Matrix23 H2;
Point2 actual2 = snavely(P, X, H1, H2);
EXPECT(assert_equal(expected,actual,1e-9));
#ifndef GTSAM_USE_QUATERNIONS
EXPECT(assert_equal(E1,H1,1e-8));
#else
EXPECT(assert_equal(E1,H1,1e-6)); // why ????
#endif
EXPECT(assert_equal(E2,H2,1e-8));
}
/* ************************************************************************* */
@ -204,10 +199,10 @@ TEST(Expression, Snavely) {
Expression<Point3> X(2);
typedef AdaptAutoDiff<SnavelyProjection, Point2, Camera, Point3> Adaptor;
Expression<Point2> expression(Adaptor(), P, X);
#ifndef GTSAM_USE_QUATERNIONS
EXPECT_LONGS_EQUAL(528,expression.traceSize()); // Todo, should be zero
#else
#ifdef GTSAM_USE_QUATERNIONS
EXPECT_LONGS_EQUAL(480,expression.traceSize()); // Todo, should be zero
#else
EXPECT_LONGS_EQUAL(528,expression.traceSize()); // Todo, should be zero
#endif
set<Key> expected = list_of(1)(2);
EXPECT(expected == expression.keys());