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Tests passed with real settings

release/4.3a0
zhaoyang 2015-06-12 15:09:28 -04:00
parent 9ac223ec7d
commit 4c9b1de675
1 changed files with 4 additions and 4 deletions
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8
gtsam/geometry/tests/testStereoCamera.cpp
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@ -150,10 +150,10 @@ TEST( StereoCamera, backproject2_case1)
CHECK(assert_equal(expected_point, actual_point, 1e-8)); CHECK(assert_equal(expected_point, actual_point, 1e-8));
Matrix expected_jacobian_to_pose = numericalDerivative31(backproject3, Pose3(), stereo_point, *K2); Matrix expected_jacobian_to_pose = numericalDerivative31(backproject3, Pose3(), stereo_point, *K2);
CHECK(assert_equal(expected_jacobian_to_pose, actual_jacobian_1, 1e-3)); CHECK(assert_equal(expected_jacobian_to_pose, actual_jacobian_1, 1e-6));
Matrix expected_jacobian_to_point = numericalDerivative32(backproject3, Pose3(), stereo_point, *K2); Matrix expected_jacobian_to_point = numericalDerivative32(backproject3, Pose3(), stereo_point, *K2);
CHECK(assert_equal(expected_jacobian_to_point, actual_jacobian_2, 1e-3)); CHECK(assert_equal(expected_jacobian_to_point, actual_jacobian_2, 1e-6));
} }
TEST( StereoCamera, backproject2_case2) TEST( StereoCamera, backproject2_case2)
@ -173,10 +173,10 @@ TEST( StereoCamera, backproject2_case2)
CHECK(assert_equal(z, actual, 1e-3)); CHECK(assert_equal(z, actual, 1e-3));
Matrix expected_jacobian_to_pose = numericalDerivative31(backproject3, Pose3(R,t), 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-6));
Matrix expected_jacobian_to_point = numericalDerivative32(backproject3, Pose3(R,t), 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-6));
} }
/* ************************************************************************* */ /* ************************************************************************* */