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added comment on rankTol

release/4.3a0
lcarlone 2021-09-03 22:16:46 -04:00
parent 224610ae1e
commit bd10fcb0ea
1 changed files with 3 additions and 0 deletions
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gtsam/slam/tests/testSmartProjectionFactorP.cpp
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@ -1337,6 +1337,9 @@ TEST( SmartProjectionFactorP, 2poses_sphericalCamera_rankTol ) {
} }
// SAME TEST WITH SMALLER RANK TOL // SAME TEST WITH SMALLER RANK TOL
{// rankTol = 0.01 gives a valid point {// 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; SmartProjectionParams params;
params.setRankTolerance(0.01); params.setRankTolerance(0.01);