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

all tests pass also with THROW cheirality

release/4.3a0
lcarlone 2021-08-28 14:47:32 -04:00
parent 64b520aea4
commit a6e728f4e6
1 changed files with 5 additions and 2 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

7
gtsam/geometry/tests/testTriangulation.cpp
View File

@ -520,6 +520,7 @@ TEST( triangulation, twoPoses_sphericalCamera_extremeFOV) {
double rank_tol = 1e-9;
{
// 1. Test simple DLT, when 1 point is behind spherical camera
bool optimize = false;
#ifdef GTSAM_THROW_CHEIRALITY_EXCEPTION
@ -531,9 +532,10 @@ TEST( triangulation, twoPoses_sphericalCamera_extremeFOV) {
triangulatePoint3<SphericalCamera>(cameras, measurements, rank_tol, optimize);
EXPECT(assert_equal(landmarkL, *actual1, 1e-7));
#endif
}
{
// 2. test with optimization on, same answer
optimize = true;
bool optimize = true;
#ifdef GTSAM_THROW_CHEIRALITY_EXCEPTION
CHECK_EXCEPTION(
triangulatePoint3<SphericalCamera>(cameras, measurements, rank_tol,
@ -544,6 +546,7 @@ TEST( triangulation, twoPoses_sphericalCamera_extremeFOV) {
EXPECT(assert_equal(landmarkL, *actual1, 1e-7));
#endif
}
}
//******************************************************************************
int main() {