From 7f27a594d27fe2788d2e8eaf67f40243914ca18d Mon Sep 17 00:00:00 2001
From: dellaert <dellaert@cc.gatech.edu>
Date: Wed, 4 Mar 2015 23:45:27 -0800
Subject: [PATCH] Fixed degeernate test-case

---
 .../slam/tests/testSmartProjectionPoseFactor.cpp  | 15 +++++++++------
 1 file changed, 9 insertions(+), 6 deletions(-)

diff --git a/gtsam/slam/tests/testSmartProjectionPoseFactor.cpp b/gtsam/slam/tests/testSmartProjectionPoseFactor.cpp
index 9008fc464..dcfb52e03 100644
--- a/gtsam/slam/tests/testSmartProjectionPoseFactor.cpp
+++ b/gtsam/slam/tests/testSmartProjectionPoseFactor.cpp
@@ -1162,9 +1162,12 @@ TEST( SmartProjectionPoseFactor, HessianWithRotationDegenerate ) {
   views.push_back(x1);
   views.push_back(x2);
   views.push_back(x3);
+  
+  // All cameras have the same pose so will be degenerate !
+  Camera cam2(level_pose, sharedK2);
+  Camera cam3(level_pose, sharedK2);
 
-  vector<Point2> measurements_cam1, measurements_cam2, measurements_cam3;
-
+  vector<Point2> measurements_cam1;
   projectToMultipleCameras(cam1, cam2, cam3, landmark1, measurements_cam1);
 
   SmartFactor::shared_ptr smartFactor(new SmartFactor());
@@ -1183,8 +1186,8 @@ TEST( SmartProjectionPoseFactor, HessianWithRotationDegenerate ) {
 
   Values rotValues;
   rotValues.insert(x1, Camera(poseDrift.compose(level_pose), sharedK2));
-  rotValues.insert(x2, Camera(poseDrift.compose(pose_right), sharedK2));
-  rotValues.insert(x3, Camera(poseDrift.compose(pose_above), sharedK2));
+  rotValues.insert(x2, Camera(poseDrift.compose(level_pose), sharedK2));
+  rotValues.insert(x3, Camera(poseDrift.compose(level_pose), sharedK2));
 
   boost::shared_ptr<GaussianFactor> factorRot = smartFactor->linearize(
       rotValues);
@@ -1199,8 +1202,8 @@ TEST( SmartProjectionPoseFactor, HessianWithRotationDegenerate ) {
 
   Values tranValues;
   tranValues.insert(x1, Camera(poseDrift2.compose(level_pose), sharedK2));
-  tranValues.insert(x2, Camera(poseDrift2.compose(pose_right), sharedK2));
-  tranValues.insert(x3, Camera(poseDrift2.compose(pose_above), sharedK2));
+  tranValues.insert(x2, Camera(poseDrift2.compose(level_pose), sharedK2));
+  tranValues.insert(x3, Camera(poseDrift2.compose(level_pose), sharedK2));
 
   boost::shared_ptr<GaussianFactor> factorRotTran = smartFactor->linearize(
       tranValues);