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

release/4.3a0
dellaert 2014-09-30 12:04:38 +02:00
parent e408159545
commit dd33344744
1 changed files with 3 additions and 2 deletions
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5
gtsam/geometry/tests/testEssentialMatrix.cpp
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@ -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));