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fix: correct a stupid test typo error. Jacobian is always fine, no issue

release/4.3a0
lvzhaoyang 2015-06-23 03:16:01 -04:00
parent a37f81fed7
commit 89dc6399e2
1 changed files with 7 additions and 13 deletions
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20
gtsam/geometry/tests/testCal3_S2.cpp
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@ -80,26 +80,20 @@ Point2 calibrate_(const Cal3_S2& k, const Point2& pt) {return k.calibrate(pt);
TEST(Cal3_S2, Dcalibrate1) TEST(Cal3_S2, Dcalibrate1)
{ {
Matrix computed; Matrix computed;
Point2 expected = K.calibrate(p_uv, computed, boost::none); Point2 expected = K.calibrate2(p_uv, computed, boost::none);
Matrix numerical = numericalDerivative21(calibrate_, K, p); Matrix numerical = numericalDerivative21(calibrate_, K, p_uv);
CHECK(assert_equal(numerical, computed, 1e-8));
CHECK(assert_equal(expected, p_xy, 1e-8)); CHECK(assert_equal(expected, p_xy, 1e-8));
}
/* ************************************************************************* */
TEST(Cal3_S2, Dcalibrate1)
{
Matrix computed;
Point2 expected = K.calibrate(p_uv, boost::none, computed);
Matrix numerical = numericalDerivative22(calibrate_, K, p);
CHECK(assert_equal(numerical, computed, 1e-8)); CHECK(assert_equal(numerical, computed, 1e-8));
CHECK(assert_equal(expected, p_xy, 1e-8));
} }
/* ************************************************************************* */ /* ************************************************************************* */
TEST(Cal3_S2, Dcalibrate2) TEST(Cal3_S2, Dcalibrate2)
{ {
Matrix computed;
Point2 expected = K.calibrate2(p_uv, boost::none, computed);
Matrix numerical = numericalDerivative22(calibrate_, K, p_uv);
CHECK(assert_equal(expected, p_xy, 1e-8));
CHECK(assert_equal(numerical, computed, 1e-8));
} }
/* ************************************************************************* */ /* ************************************************************************* */