Fixed ambiguous sqrt/atan errors
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				|  | @ -45,8 +45,8 @@ TEST( InvDepthFactor, Project2) { | |||
| 	Point2 expected = level_camera.project(landmark); | ||||
| 
 | ||||
| 	InvDepthCamera3<Cal3_S2> inv_camera(level_pose, K); | ||||
| 	LieVector diag_landmark(5, 0., 0., 1., M_PI/4., atan(1/sqrt(2))); | ||||
| 	LieScalar inv_depth(1/sqrt(3)); | ||||
| 	LieVector diag_landmark(5, 0., 0., 1., M_PI/4., atan(1.0/sqrt(2.0))); | ||||
| 	LieScalar inv_depth(1/sqrt(3.0)); | ||||
| 	Point2 actual = inv_camera.project(diag_landmark, inv_depth); | ||||
| 	EXPECT(assert_equal(expected, actual)); | ||||
| } | ||||
|  | @ -60,8 +60,8 @@ TEST( InvDepthFactor, Project3) { | |||
| 	Point2 expected = level_camera.project(landmark); | ||||
| 
 | ||||
| 	InvDepthCamera3<Cal3_S2> inv_camera(level_pose, K); | ||||
| 	LieVector diag_landmark(5, 0., 0., 0., M_PI/4., atan(2./sqrt(2))); | ||||
| 	LieScalar inv_depth( 1./sqrt(1+1+4)); | ||||
| 	LieVector diag_landmark(5, 0., 0., 0., M_PI/4., atan(2./sqrt(2.0))); | ||||
| 	LieScalar inv_depth( 1./sqrt(1.0+1+4)); | ||||
| 	Point2 actual = inv_camera.project(diag_landmark, inv_depth); | ||||
| 	EXPECT(assert_equal(expected, actual)); | ||||
| } | ||||
|  | @ -75,8 +75,8 @@ TEST( InvDepthFactor, Project4) { | |||
| 	Point2 expected = level_camera.project(landmark); | ||||
| 
 | ||||
| 	InvDepthCamera3<Cal3_S2> inv_camera(level_pose, K); | ||||
| 	LieVector diag_landmark(5, 0., 0., 0., atan(4/1), atan(2./sqrt(1+16))); | ||||
| 	LieScalar inv_depth(1./sqrt(1+16+4)); | ||||
| 	LieVector diag_landmark(5, 0., 0., 0., atan(4.0/1), atan(2./sqrt(1.+16.))); | ||||
| 	LieScalar inv_depth(1./sqrt(1.+16.+4.)); | ||||
| 	Point2 actual = inv_camera.project(diag_landmark, inv_depth); | ||||
| 	EXPECT(assert_equal(expected, actual)); | ||||
| } | ||||
|  |  | |||
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