diff --git a/.cproject b/.cproject
index b9903731f..3a0c3254c 100644
--- a/.cproject
+++ b/.cproject
@@ -322,14 +322,6 @@
true
true
-
- make
- -j2
- testGaussianFactor.run
- true
- true
- true
-
make
-j2
@@ -356,6 +348,7 @@
make
+
tests/testBayesTree.run
true
false
@@ -363,6 +356,7 @@
make
+
testBinaryBayesNet.run
true
false
@@ -410,6 +404,7 @@
make
+
testSymbolicBayesNet.run
true
false
@@ -417,6 +412,7 @@
make
+
tests/testSymbolicFactor.run
true
false
@@ -424,6 +420,7 @@
make
+
testSymbolicFactorGraph.run
true
false
@@ -439,11 +436,20 @@
make
+
tests/testBayesTree
true
false
true
+
+ make
+ -j2
+ testGaussianFactor.run
+ true
+ true
+ true
+
make
-j2
@@ -478,7 +484,6 @@
make
-
testGraph.run
true
false
@@ -574,7 +579,6 @@
make
-
testInference.run
true
false
@@ -582,7 +586,6 @@
make
-
testGaussianBayesNet.run
true
false
@@ -590,7 +593,6 @@
make
-
testGaussianFactor.run
true
false
@@ -598,7 +600,6 @@
make
-
testJunctionTree.run
true
false
@@ -606,7 +607,6 @@
make
-
testSymbolicBayesNet.run
true
false
@@ -614,7 +614,6 @@
make
-
testSymbolicFactorGraph.run
true
false
@@ -748,14 +747,6 @@
true
true
-
- make
- -j2
- check
- true
- true
- true
-
make
-j2
@@ -764,6 +755,14 @@
true
true
+
+ make
+ -j2
+ check
+ true
+ true
+ true
+
make
-j2
@@ -974,6 +973,7 @@
make
+
testErrors.run
true
false
@@ -1251,6 +1251,14 @@
true
true
+
+ make
+ -j2
+ tests/testStereoCamera.run
+ true
+ true
+ true
+
make
-j2
@@ -1333,7 +1341,6 @@
make
-
testSimulated2DOriented.run
true
false
@@ -1373,7 +1380,6 @@
make
-
testSimulated2D.run
true
false
@@ -1381,7 +1387,6 @@
make
-
testSimulated3D.run
true
false
@@ -1485,7 +1490,6 @@
make
-
tests/testGaussianISAM2
true
false
@@ -1507,6 +1511,46 @@
true
true
+
+ make
+ -j2
+ install
+ true
+ true
+ true
+
+
+ make
+ -j2
+ clean
+ true
+ true
+ true
+
+
+ make
+ -j2
+ check
+ true
+ true
+ true
+
+
+ make
+ -j2
+ all
+ true
+ true
+ true
+
+
+ make
+ -j2
+ dist
+ true
+ true
+ true
+
make
-j2
@@ -1603,54 +1647,6 @@
true
true
-
- make
- -j2
- install
- true
- true
- true
-
-
- make
- -j2
- clean
- true
- true
- true
-
-
- make
- -j2
- check
- true
- true
- true
-
-
- make
- -j2
- all
- true
- true
- true
-
-
- make
- -j2
- dist
- true
- true
- true
-
-
- make
- -j2
- check
- true
- true
- true
-
make
-j2
@@ -1683,6 +1679,14 @@
true
true
+
+ make
+ -j2
+ check
+ true
+ true
+ true
+
@@ -2005,14 +2009,6 @@
true
true
-
- make
- -j2
- testGaussianFactor.run
- true
- true
- true
-
make
-j2
@@ -2039,6 +2035,7 @@
make
+
tests/testBayesTree.run
true
false
@@ -2046,6 +2043,7 @@
make
+
testBinaryBayesNet.run
true
false
@@ -2093,6 +2091,7 @@
make
+
testSymbolicBayesNet.run
true
false
@@ -2100,6 +2099,7 @@
make
+
tests/testSymbolicFactor.run
true
false
@@ -2107,6 +2107,7 @@
make
+
testSymbolicFactorGraph.run
true
false
@@ -2122,11 +2123,20 @@
make
+
tests/testBayesTree
true
false
true
+
+ make
+ -j2
+ testGaussianFactor.run
+ true
+ true
+ true
+
make
-j2
@@ -2161,7 +2171,6 @@
make
-
testGraph.run
true
false
@@ -2257,7 +2266,6 @@
make
-
testInference.run
true
false
@@ -2265,7 +2273,6 @@
make
-
testGaussianBayesNet.run
true
false
@@ -2273,7 +2280,6 @@
make
-
testGaussianFactor.run
true
false
@@ -2281,7 +2287,6 @@
make
-
testJunctionTree.run
true
false
@@ -2289,7 +2294,6 @@
make
-
testSymbolicBayesNet.run
true
false
@@ -2297,7 +2301,6 @@
make
-
testSymbolicFactorGraph.run
true
false
@@ -2431,14 +2434,6 @@
true
true
-
- make
- -j2
- check
- true
- true
- true
-
make
-j2
@@ -2447,6 +2442,14 @@
true
true
+
+ make
+ -j2
+ check
+ true
+ true
+ true
+
make
-j2
@@ -2657,6 +2660,7 @@
make
+
testErrors.run
true
false
@@ -2934,6 +2938,14 @@
true
true
+
+ make
+ -j2
+ tests/testStereoCamera.run
+ true
+ true
+ true
+
make
-j2
@@ -3016,7 +3028,6 @@
make
-
testSimulated2DOriented.run
true
false
@@ -3056,7 +3067,6 @@
make
-
testSimulated2D.run
true
false
@@ -3064,7 +3074,6 @@
make
-
testSimulated3D.run
true
false
@@ -3168,7 +3177,6 @@
make
-
tests/testGaussianISAM2
true
false
@@ -3190,6 +3198,46 @@
true
true
+
+ make
+ -j2
+ install
+ true
+ true
+ true
+
+
+ make
+ -j2
+ clean
+ true
+ true
+ true
+
+
+ make
+ -j2
+ check
+ true
+ true
+ true
+
+
+ make
+ -j2
+ all
+ true
+ true
+ true
+
+
+ make
+ -j2
+ dist
+ true
+ true
+ true
+
make
-j2
@@ -3286,54 +3334,6 @@
true
true
-
- make
- -j2
- install
- true
- true
- true
-
-
- make
- -j2
- clean
- true
- true
- true
-
-
- make
- -j2
- check
- true
- true
- true
-
-
- make
- -j2
- all
- true
- true
- true
-
-
- make
- -j2
- dist
- true
- true
- true
-
-
- make
- -j2
- check
- true
- true
- true
-
make
-j2
@@ -3366,6 +3366,14 @@
true
true
+
+ make
+ -j2
+ check
+ true
+ true
+ true
+
diff --git a/gtsam/geometry/StereoCamera.h b/gtsam/geometry/StereoCamera.h
index ae3a53a69..8cca8deee 100644
--- a/gtsam/geometry/StereoCamera.h
+++ b/gtsam/geometry/StereoCamera.h
@@ -80,7 +80,7 @@ namespace gtsam {
return pose().transform_from(cameraPoint);
}
- Point3 backproject(const StereoPoint2& z) {
+ Point3 backproject(const StereoPoint2& z) const {
Vector measured = z.vector();
double Z = K_.baseline()*K_.fx()/(measured[0]-measured[1]);
double X = Z *(measured[0]- K_.px()) / K_.fx();
diff --git a/gtsam/geometry/tests/testStereoCamera.cpp b/gtsam/geometry/tests/testStereoCamera.cpp
index 77f890279..b90564ca0 100644
--- a/gtsam/geometry/tests/testStereoCamera.cpp
+++ b/gtsam/geometry/tests/testStereoCamera.cpp
@@ -108,6 +108,22 @@ TEST( StereoCamera, backproject)
CHECK(assert_equal(expected,actual,1e-8));
}
+/* ************************************************************************* */
+//TEST( StereoCamera, backproject2)
+//{
+// Rot3 R(0.589511291, -0.804859792, 0.0683931805,
+// -0.804435942, -0.592650676, -0.0405925523,
+// 0.0732045588, -0.0310882277, -0.996832359);
+// Point3 t(53.5239823, 23.7866016, -4.42379876);
+// Cal3_S2Stereo K(1733.75, 1733.75, 0, 689.645, 508.835, 0.0699612);
+// StereoCamera camera(Pose3(R,t), K);
+// StereoPoint2 z(184.812, 129.068, 714.768);
+//
+// Point3 l = camera.backproject(z);
+// StereoPoint2 actual = camera.project(l);
+// CHECK(assert_equal(z, actual, 1e-8));
+//}
+
/* ************************************************************************* */
int main() { TestResult tr; return TestRegistry::runAllTests(tr);}
/* ************************************************************************* */