From b3ea3f94657bdfb5228506215ea939904804b2c2 Mon Sep 17 00:00:00 2001 From: Luca Carlone Date: Thu, 8 Aug 2013 14:30:26 +0000 Subject: [PATCH] lines added to testSmartProjectionFactor --- gtsam_unstable/slam/tests/testSmartProjectionFactor.cpp | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/gtsam_unstable/slam/tests/testSmartProjectionFactor.cpp b/gtsam_unstable/slam/tests/testSmartProjectionFactor.cpp index 15c682505..e64d08e7d 100644 --- a/gtsam_unstable/slam/tests/testSmartProjectionFactor.cpp +++ b/gtsam_unstable/slam/tests/testSmartProjectionFactor.cpp @@ -375,8 +375,9 @@ TEST( SmartProjectionFactor, Hessian ){ hessianFactor->print("Hessian factor \n"); // compute triangulation from linearization point - // compute reprojection errors + // compute reprojection errors (sum squared) // compare with hessianFactor.info(): the bottom right element is the squared sum of the reprojection errors (normalized by the covariance) + // check that it is correctly scaled when using noiseProjection = [1/4 0; 0 1/4]