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Relax test tolerance a bit for quaternion mode

release/4.3a0
cbeall3 2015-08-19 07:30:14 -04:00
parent 1727b60728
commit c8df985e2f
1 changed files with 2 additions and 2 deletions
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4
gtsam_unstable/slam/tests/testSmartStereoProjectionPoseFactor.cpp
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@ -277,7 +277,7 @@ TEST( SmartStereoProjectionPoseFactor, 3poses_smart_projection_factor ) {
Point3(0.1, -0.1, 1.9)), values.at<Pose3>(x3))); Point3(0.1, -0.1, 1.9)), values.at<Pose3>(x3)));
// cout << std::setprecision(10) << "\n----SmartStereoFactor graph initial error: " << graph.error(values) << endl; // cout << std::setprecision(10) << "\n----SmartStereoFactor graph initial error: " << graph.error(values) << endl;
EXPECT_DOUBLES_EQUAL(797312.95069157204, graph.error(values), 1e-9); EXPECT_DOUBLES_EQUAL(797312.95069157204, graph.error(values), 1e-7);
// get triangulated landmarks from smart factors // get triangulated landmarks from smart factors
Point3 landmark1_smart = *smartFactor1->point(); Point3 landmark1_smart = *smartFactor1->point();
@ -339,7 +339,7 @@ TEST( SmartStereoProjectionPoseFactor, 3poses_smart_projection_factor ) {
graph2.push_back(ProjectionFactor(measurements_l3[2], model, x3, L(3), K2, false, verboseCheirality)); graph2.push_back(ProjectionFactor(measurements_l3[2], model, x3, L(3), K2, false, verboseCheirality));
// cout << std::setprecision(10) << "\n----StereoFactor graph initial error: " << graph2.error(values) << endl; // cout << std::setprecision(10) << "\n----StereoFactor graph initial error: " << graph2.error(values) << endl;
EXPECT_DOUBLES_EQUAL(797312.95069157204, graph2.error(values), 1e-9); EXPECT_DOUBLES_EQUAL(797312.95069157204, graph2.error(values), 1e-7);
LevenbergMarquardtOptimizer optimizer2(graph2, values, lm_params); LevenbergMarquardtOptimizer optimizer2(graph2, values, lm_params);
Values result2 = optimizer2.optimize(); Values result2 = optimizer2.optimize();