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Values changed a tiny bit after fixing Sphere2

release/4.3a0
dellaert 2014-02-22 15:59:27 -05:00
parent 37489ddba7
commit 83105f08a2
2 changed files with 3 additions and 3 deletions
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2
gtsam/geometry/tests/testEssentialMatrix.cpp
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@ -136,7 +136,7 @@ TEST (EssentialMatrix, FromPose3_a) {
EXPECT(assert_equal(trueE, EssentialMatrix::FromPose3(pose, actualH), 1e-8)); EXPECT(assert_equal(trueE, EssentialMatrix::FromPose3(pose, actualH), 1e-8));
Matrix expectedH = numericalDerivative11<EssentialMatrix, Pose3>( Matrix expectedH = numericalDerivative11<EssentialMatrix, Pose3>(
boost::bind(EssentialMatrix::FromPose3, _1, boost::none), pose); boost::bind(EssentialMatrix::FromPose3, _1, boost::none), pose);
EXPECT(assert_equal(expectedH, actualH, 1e-8)); EXPECT(assert_equal(expectedH, actualH, 1e-7));
} }
//************************************************************************* //*************************************************************************

4
gtsam/slam/tests/testEssentialMatrixFactor.cpp
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@ -128,7 +128,7 @@ TEST (EssentialMatrixFactor, minimization) {
EssentialMatrix initialE = trueE.retract( EssentialMatrix initialE = trueE.retract(
(Vector(5) << 0.1, -0.1, 0.1, 0.1, -0.1)); (Vector(5) << 0.1, -0.1, 0.1, 0.1, -0.1));
initial.insert(1, initialE); initial.insert(1, initialE);
EXPECT_DOUBLES_EQUAL(640, graph.error(initial), 1e-2); EXPECT_DOUBLES_EQUAL(639.84, graph.error(initial), 1e-2);
// Optimize // Optimize
LevenbergMarquardtParams parameters; LevenbergMarquardtParams parameters;
@ -339,7 +339,7 @@ TEST (EssentialMatrixFactor, extraMinimization) {
EssentialMatrix initialE = trueE.retract( EssentialMatrix initialE = trueE.retract(
(Vector(5) << 0.1, -0.1, 0.1, 0.1, -0.1)); (Vector(5) << 0.1, -0.1, 0.1, 0.1, -0.1));
initial.insert(1, initialE); initial.insert(1, initialE);
EXPECT_DOUBLES_EQUAL(640, graph.error(initial), 1e-2); EXPECT_DOUBLES_EQUAL(639.84, graph.error(initial), 1e-2);
// Optimize // Optimize
LevenbergMarquardtParams parameters; LevenbergMarquardtParams parameters;