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lines added to testSmartProjectionFactor

release/4.3a0
Luca Carlone 2013-08-08 14:30:26 +00:00
parent 6dd67a13fd
commit b3ea3f9465
1 changed files with 2 additions and 1 deletions
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3
gtsam_unstable/slam/tests/testSmartProjectionFactor.cpp
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@ -375,8 +375,9 @@ TEST( SmartProjectionFactor, Hessian ){
hessianFactor->print("Hessian factor \n"); hessianFactor->print("Hessian factor \n");
// compute triangulation from linearization point // 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) // 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]