Fixed unit test - might be platform specific though :-(

2014-09-30 12:04:38 +02:00 · 2014-09-30 12:04:38 +02:00 · dd33344744
parent e408159545
commit dd33344744
1 changed files with 3 additions and 2 deletions
--- a/gtsam/geometry/tests/testEssentialMatrix.cpp
+++ b/gtsam/geometry/tests/testEssentialMatrix.cpp
@ -182,8 +182,9 @@ TEST (EssentialMatrix, epipoles) {
  // Check epipoles

  // Epipole in image 1 is just E.direction()
-  Unit3 e1(U(0, 2), U(1, 2), U(2, 2));
-  EXPECT(assert_equal(e1, E.epipole_a()));
+  Unit3 e1(-U(0, 2), -U(1, 2), -U(2, 2));
+  Unit3 actual = E.epipole_a();
+  EXPECT(assert_equal(e1, actual));

  // Epipole in image 2 is E.rotation().unrotate(E.direction())
  Unit3 e2(V(0, 2), V(1, 2), V(2, 2));