From dd3334474415db2bf01140debae326ed2cf9497e Mon Sep 17 00:00:00 2001 From: dellaert Date: Tue, 30 Sep 2014 12:04:38 +0200 Subject: [PATCH] Fixed unit test - might be platform specific though :-( --- gtsam/geometry/tests/testEssentialMatrix.cpp | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/gtsam/geometry/tests/testEssentialMatrix.cpp b/gtsam/geometry/tests/testEssentialMatrix.cpp index 4d34bbe3d..318c3db7c 100644 --- 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));