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reduced tolerance for checking jacobian

release/4.3a0
Varun Agrawal 2020-07-09 11:52:06 -04:00
parent b9264cf550
commit 7dfc79971a
1 changed files with 5 additions and 3 deletions
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8
gtsam/slam/tests/testSmartFactorBase.cpp
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@ -67,9 +67,9 @@ TEST(SmartFactorBase, PinholeWithSensor) {
PinholeFactor::Cameras cameras; PinholeFactor::Cameras cameras;
// Assume body at origin. // Assume body at origin.
Pose3 world_T_body = Pose3(); Pose3 world_P_body = Pose3();
// Camera coordinates in world frame. // Camera coordinates in world frame.
Pose3 wTc = world_T_body * body_P_sensor; Pose3 wTc = world_P_body * body_P_sensor;
cameras.push_back(PinholeCamera<Cal3Bundler>(wTc)); cameras.push_back(PinholeCamera<Cal3Bundler>(wTc));
// Simple point to project slightly off image center // Simple point to project slightly off image center
@ -88,7 +88,9 @@ TEST(SmartFactorBase, PinholeWithSensor) {
expectedE << 0.1, 0, 0.01, 0, 0.1, 0; expectedE << 0.1, 0, 0.01, 0, 0.1, 0;
EXPECT(assert_equal(error, expectedError)); EXPECT(assert_equal(error, expectedError));
EXPECT(assert_equal(expectedFs, Fs[0])); // We only have the jacobian for the 1 camera // We only have the jacobian for the 1 camera
// Use of a lower tolerance value due to compiler precision mismatch.
EXPECT(assert_equal(expectedFs, Fs[0], 1e-3));
EXPECT(assert_equal(expectedE, E)); EXPECT(assert_equal(expectedE, E));
} }