12345qiupeng
/
gtsam
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

Fixed global replace error

release/4.3a0
dellaert 2015-03-04 10:28:26 -08:00
parent 216b5ae62b
commit cc4083d33e
1 changed files with 4 additions and 6 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

10
gtsam/slam/tests/testSmartProjectionPoseFactor.cpp
View File

@ -859,10 +859,8 @@ TEST( SmartProjectionPoseFactor, 3poses_2land_rotation_only_smart_projection_fac
views.push_back(x3); views.push_back(x3);
// Two different cameras // Two different cameras
Pose3 pose2 = level_pose Pose3 pose2 = level_pose * Pose3(Rot3::RzRyRx(-0.05, 0.0, -0.05), Point3());
* Pose3(Rot3::RzRyRx(-0.05, 0.0, -0.05), Point3(0, 0, 0)); Pose3 pose3 = pose2 * Pose3(Rot3::RzRyRx(-0.05, 0.0, -0.05), Point3());
Pose3 pose3 = level_pose
* Pose3(Rot3::RzRyRx(-0.05, 0.0, -0.05), Point3(0, 0, 0));
Camera cam2(pose2, sharedK2); Camera cam2(pose2, sharedK2);
Camera cam3(pose3, 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 Point3(0.1, 0.1, 0.1)); // smaller noise
Values values; Values values;
values.insert(x1, cam1); 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 // 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) if (isDebugTest)
values.at<Camera>(x3).print("Camera before optimization: "); values.at<Camera>(x3).print("Camera before optimization: ");