From fcc2470e28d675e9eac45d097ad04b39dd4496d6 Mon Sep 17 00:00:00 2001
From: dellaert <dellaert@cc.gatech.edu>
Date: Tue, 10 Mar 2015 16:25:00 -0700
Subject: [PATCH] Fixed one test which had wrong signs

---
 gtsam/slam/tests/testSmartProjectionCameraFactor.cpp | 6 ++++--
 1 file changed, 4 insertions(+), 2 deletions(-)

diff --git a/gtsam/slam/tests/testSmartProjectionCameraFactor.cpp b/gtsam/slam/tests/testSmartProjectionCameraFactor.cpp
index 2f6bf9b00..ca346e83e 100644
--- a/gtsam/slam/tests/testSmartProjectionCameraFactor.cpp
+++ b/gtsam/slam/tests/testSmartProjectionCameraFactor.cpp
@@ -242,9 +242,11 @@ TEST( SmartProjectionCameraFactor, perturbPoseAndOptimize ) {
 
   // Check whitened errors
   Vector expected(6);
-  expected << -256, -29, 26, -29, 206, 202;
-  SmartFactor::Cameras cameras1 = smartFactor1->cameras(initial);
+  expected << 256, 29, -26, 29, -206, -202;
   Point3 point1 = *smartFactor1->point();
+  SmartFactor::Cameras cameras1 = smartFactor1->cameras(initial);
+  Vector reprojectionError = cameras1.reprojectionError(point1, measurements_cam1);
+  EXPECT(assert_equal(expected, reprojectionError, 1));
   Vector actual = smartFactor1->whitenedError(cameras1, point1);
   EXPECT(assert_equal(expected, actual, 1));