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improved test, and slightly loosened tolerance when using MKL

release/4.3a0
Luca 2016-07-31 20:10:31 -04:00
parent 9336c0b8c0
commit 938454916f
1 changed files with 12 additions and 2 deletions
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14
gtsam_unstable/slam/tests/testSmartStereoProjectionPoseFactor.cpp
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@ -1348,7 +1348,7 @@ TEST( SmartStereoProjectionPoseFactor, HessianWithRotation ) {
} }
/* *************************************************************************/ /* *************************************************************************/
TEST( SmartStereoProjectionPoseFactor, HessianWithRotationDegenerate ) { TEST( SmartStereoProjectionPoseFactor, HessianWithRotationNonDegenerate ) {
vector<Key> views; vector<Key> views;
views.push_back(x1); views.push_back(x1);
@ -1381,6 +1381,9 @@ TEST( SmartStereoProjectionPoseFactor, HessianWithRotationDegenerate ) {
boost::shared_ptr<GaussianFactor> hessianFactor = smartFactor->linearize( boost::shared_ptr<GaussianFactor> hessianFactor = smartFactor->linearize(
values); values);
// check that it is non degenerate
EXPECT(smartFactor->isValid());
Pose3 poseDrift = Pose3(Rot3::Ypr(-M_PI / 2, 0., -M_PI / 2), Point3(0, 0, 0)); Pose3 poseDrift = Pose3(Rot3::Ypr(-M_PI / 2, 0., -M_PI / 2), Point3(0, 0, 0));
Values rotValues; Values rotValues;
@ -1391,6 +1394,9 @@ TEST( SmartStereoProjectionPoseFactor, HessianWithRotationDegenerate ) {
boost::shared_ptr<GaussianFactor> hessianFactorRot = smartFactor->linearize( boost::shared_ptr<GaussianFactor> hessianFactorRot = smartFactor->linearize(
rotValues); rotValues);
// check that it is non degenerate
EXPECT(smartFactor->isValid());
// Hessian is invariant to rotations in the nondegenerate case // Hessian is invariant to rotations in the nondegenerate case
EXPECT( EXPECT(
assert_equal(hessianFactor->information(), assert_equal(hessianFactor->information(),
@ -1407,10 +1413,14 @@ TEST( SmartStereoProjectionPoseFactor, HessianWithRotationDegenerate ) {
boost::shared_ptr<GaussianFactor> hessianFactorRotTran = boost::shared_ptr<GaussianFactor> hessianFactorRotTran =
smartFactor->linearize(tranValues); smartFactor->linearize(tranValues);
// Hessian is invariant to rotations and translations in the nondegenerate case // Hessian is invariant to rotations and translations in the degenerate case
EXPECT( EXPECT(
assert_equal(hessianFactor->information(), assert_equal(hessianFactor->information(),
#ifdef GTSAM_USE_EIGEN_MKL
hessianFactorRotTran->information(), 1e-5));
#else
hessianFactorRotTran->information(), 1e-6)); hessianFactorRotTran->information(), 1e-6));
#endif
} }
/* ************************************************************************* */ /* ************************************************************************* */