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oops, this should be derivative against pose in test

release/4.3a0
zhaoyang 2015-06-12 13:56:47 -04:00
parent a5d74f77d7
commit 4c4c72adb4
1 changed files with 2 additions and 2 deletions
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4
gtsam/geometry/tests/testStereoCamera.cpp
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@ -172,10 +172,10 @@ TEST( StereoCamera, backproject2_case2)
StereoPoint2 actual = camera.project(l); StereoPoint2 actual = camera.project(l);
CHECK(assert_equal(z, actual, 1e-3)); 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)); 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)); CHECK(assert_equal(expected_jacobian_to_point, actual_jacobian_2, 1e-3));
} }