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

Fixed ambiguous sqrt/atan errors

release/4.3a0
Richard Roberts 2012-08-03 21:02:37 +00:00
parent 711b28ae01
commit d93aac12d0
1 changed files with 6 additions and 6 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

12
gtsam_unstable/geometry/tests/testInvDepthCamera3.cpp
View File

@ -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));
}