12345qiupeng
/
gtsam
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

Fixed Point3 constructor

release/4.3a0
Frank 2016-02-24 14:44:05 -08:00
parent 872f86698b
commit 8e6baf9e7e
1 changed files with 6 additions and 3 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

9
tests/testNonlinearEquality.cpp
View File

@ -1,6 +1,6 @@
/* ----------------------------------------------------------------------------
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
* Atlanta, Georgia 30332-0415
* All Rights Reserved
* Authors: Frank Dellaert, et al. (see THANKS for the full author list)
@ -525,10 +525,13 @@ TEST (testNonlinearEqualityConstraint, stereo_constrained ) {
// create initial estimates
Rot3 faceTowardsY(Point3(1, 0, 0), Point3(0, 0, -1), Point3(0, 1, 0));
Pose3 poseLeft(faceTowardsY, Point3()); // origin, left camera
Pose3 poseLeft(faceTowardsY, Point3(0, 0, 0)); // origin, left camera
SimpleCamera leftCamera(poseLeft, K);
Pose3 poseRight(faceTowardsY, Point3(2, 0, 0)); // 2 units to the right
Pose3 poseRight(faceTowardsY, Point3(2, 0, 0)); // 2 units to the right
SimpleCamera rightCamera(poseRight, K);
Point3 landmark(1, 5, 0); //centered between the cameras, 5 units away
// keys