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Fixed compile problems in tests

release/4.3a0
Alex Cunningham 2013-08-08 17:53:03 +00:00
parent 41a1b3c30e
commit 706534c3b8
2 changed files with 7 additions and 6 deletions
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12
gtsam/slam/tests/testGeneralSFMFactor.cpp
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@ -371,7 +371,7 @@ TEST( GeneralSFMFactor, optimize_varK_BA ) {
graph.addCameraConstraint(0, cameras[0]);
// Constrain the scale of the problem with a soft range factor of 1m between the cameras
graph.add(RangeFactor<GeneralCamera,GeneralCamera>(X(0), X(1), 2.0, noiseModel::Isotropic::Sigma(1, 10.0)));
graph.push_back(RangeFactor<GeneralCamera,GeneralCamera>(X(0), X(1), 2.0, noiseModel::Isotropic::Sigma(1, 10.0)));
const double reproj_error = 1e-5 ;
@ -386,8 +386,8 @@ TEST(GeneralSFMFactor, GeneralCameraPoseRange) {
// Tests range factor between a GeneralCamera and a Pose3
Graph graph;
graph.addCameraConstraint(0, GeneralCamera());
graph.add(RangeFactor<GeneralCamera, Pose3>(X(0), X(1), 2.0, noiseModel::Isotropic::Sigma(1, 1.0)));
graph.add(PriorFactor<Pose3>(X(1), Pose3(Rot3(), Point3(1.0, 0.0, 0.0)), noiseModel::Isotropic::Sigma(6, 1.0)));
graph.push_back(RangeFactor<GeneralCamera, Pose3>(X(0), X(1), 2.0, noiseModel::Isotropic::Sigma(1, 1.0)));
graph.push_back(PriorFactor<Pose3>(X(1), Pose3(Rot3(), Point3(1.0, 0.0, 0.0)), noiseModel::Isotropic::Sigma(6, 1.0)));
Values init;
init.insert(X(0), GeneralCamera());
@ -410,9 +410,9 @@ TEST(GeneralSFMFactor, GeneralCameraPoseRange) {
TEST(GeneralSFMFactor, CalibratedCameraPoseRange) {
// Tests range factor between a CalibratedCamera and a Pose3
NonlinearFactorGraph graph;
graph.add(PriorFactor<CalibratedCamera>(X(0), CalibratedCamera(), noiseModel::Isotropic::Sigma(6, 1.0)));
graph.add(RangeFactor<CalibratedCamera, Pose3>(X(0), X(1), 2.0, noiseModel::Isotropic::Sigma(1, 1.0)));
graph.add(PriorFactor<Pose3>(X(1), Pose3(Rot3(), Point3(1.0, 0.0, 0.0)), noiseModel::Isotropic::Sigma(6, 1.0)));
graph.push_back(PriorFactor<CalibratedCamera>(X(0), CalibratedCamera(), noiseModel::Isotropic::Sigma(6, 1.0)));
graph.push_back(RangeFactor<CalibratedCamera, Pose3>(X(0), X(1), 2.0, noiseModel::Isotropic::Sigma(1, 1.0)));
graph.push_back(PriorFactor<Pose3>(X(1), Pose3(Rot3(), Point3(1.0, 0.0, 0.0)), noiseModel::Isotropic::Sigma(6, 1.0)));
Values init;
init.insert(X(0), CalibratedCamera());

1
gtsam/slam/tests/testProjectionFactor.cpp
View File

@ -23,6 +23,7 @@
#include <gtsam/geometry/Pose3.h>
#include <gtsam/geometry/Point3.h>
#include <gtsam/geometry/Point2.h>
#include <gtsam/base/TestableAssertions.h>
#include <CppUnitLite/TestHarness.h>
using namespace std;