From cc4083d33e4f6087db98347a255985390afe1ae2 Mon Sep 17 00:00:00 2001 From: dellaert Date: Wed, 4 Mar 2015 10:28:26 -0800 Subject: [PATCH] Fixed global replace error --- gtsam/slam/tests/testSmartProjectionPoseFactor.cpp | 10 ++++------ 1 file changed, 4 insertions(+), 6 deletions(-) diff --git a/gtsam/slam/tests/testSmartProjectionPoseFactor.cpp b/gtsam/slam/tests/testSmartProjectionPoseFactor.cpp index f90eccc82..bf5354606 100644 --- a/gtsam/slam/tests/testSmartProjectionPoseFactor.cpp +++ b/gtsam/slam/tests/testSmartProjectionPoseFactor.cpp @@ -859,10 +859,8 @@ TEST( SmartProjectionPoseFactor, 3poses_2land_rotation_only_smart_projection_fac views.push_back(x3); // Two different cameras - Pose3 pose2 = level_pose - * Pose3(Rot3::RzRyRx(-0.05, 0.0, -0.05), Point3(0, 0, 0)); - Pose3 pose3 = level_pose - * Pose3(Rot3::RzRyRx(-0.05, 0.0, -0.05), Point3(0, 0, 0)); + Pose3 pose2 = level_pose * Pose3(Rot3::RzRyRx(-0.05, 0.0, -0.05), Point3()); + Pose3 pose3 = pose2 * Pose3(Rot3::RzRyRx(-0.05, 0.0, -0.05), Point3()); Camera cam2(pose2, sharedK2); Camera cam3(pose3, sharedK2); @@ -899,9 +897,9 @@ TEST( SmartProjectionPoseFactor, 3poses_2land_rotation_only_smart_projection_fac Point3(0.1, 0.1, 0.1)); // smaller noise Values values; values.insert(x1, cam1); - values.insert(x2, Camera(pose_right * noise_pose, sharedK2)); + values.insert(x2, Camera(pose2 * noise_pose, sharedK2)); // initialize third pose with some noise, we expect it to move back to original pose_above - values.insert(x3, Camera(pose_above * noise_pose * noise_pose, sharedK2)); + values.insert(x3, Camera(pose3 * noise_pose * noise_pose, sharedK2)); if (isDebugTest) values.at(x3).print("Camera before optimization: ");