From 4c4c72adb4cf18bebabe75d920bfee0b63672e3b Mon Sep 17 00:00:00 2001 From: zhaoyang Date: Fri, 12 Jun 2015 13:56:47 -0400 Subject: [PATCH] oops, this should be derivative against pose in test --- gtsam/geometry/tests/testStereoCamera.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/gtsam/geometry/tests/testStereoCamera.cpp b/gtsam/geometry/tests/testStereoCamera.cpp index 00329cb3c..1e0d2037e 100644 --- a/gtsam/geometry/tests/testStereoCamera.cpp +++ b/gtsam/geometry/tests/testStereoCamera.cpp @@ -172,10 +172,10 @@ TEST( StereoCamera, backproject2_case2) StereoPoint2 actual = camera.project(l); CHECK(assert_equal(z, actual, 1e-3)); - Matrix expected_jacobian_to_pose = numericalDerivative31(backproject3, camera, z, *K); + Matrix expected_jacobian_to_pose = numericalDerivative31(backproject3, Pose3(R,t), z, *K); CHECK(assert_equal(expected_jacobian_to_pose, actual_jacobian_1, 1e-3)); - Matrix expected_jacobian_to_point = numericalDerivative32(backproject3, camera, z, *K); + Matrix expected_jacobian_to_point = numericalDerivative32(backproject3, Pose3(R,t), z, *K); CHECK(assert_equal(expected_jacobian_to_point, actual_jacobian_2, 1e-3)); }