From bd10fcb0ea5d81795161630cd79aaf5efb67d115 Mon Sep 17 00:00:00 2001 From: lcarlone Date: Fri, 3 Sep 2021 22:16:46 -0400 Subject: [PATCH] added comment on rankTol --- gtsam/slam/tests/testSmartProjectionFactorP.cpp | 3 +++ 1 file changed, 3 insertions(+) diff --git a/gtsam/slam/tests/testSmartProjectionFactorP.cpp b/gtsam/slam/tests/testSmartProjectionFactorP.cpp index 7dd06c18e..92172c520 100644 --- a/gtsam/slam/tests/testSmartProjectionFactorP.cpp +++ b/gtsam/slam/tests/testSmartProjectionFactorP.cpp @@ -1337,6 +1337,9 @@ TEST( SmartProjectionFactorP, 2poses_sphericalCamera_rankTol ) { } // SAME TEST WITH SMALLER RANK TOL {// rankTol = 0.01 gives a valid point + // By playing with this test, we can show we can triangulate also with a baseline of 5cm (even for points + // far away, >100m), but the test fails when the baseline becomes 1cm. This suggests using + // rankTol = 0.01 and setting a reasonable max landmark distance to obtain best results. SmartProjectionParams params; params.setRankTolerance(0.01);