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Fixed one test which had wrong signs

release/4.3a0
dellaert 2015-03-10 16:25:00 -07:00
parent 9991240ae7
commit fcc2470e28
1 changed files with 4 additions and 2 deletions
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6
gtsam/slam/tests/testSmartProjectionCameraFactor.cpp
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@ -242,9 +242,11 @@ TEST( SmartProjectionCameraFactor, perturbPoseAndOptimize ) {
// Check whitened errors // Check whitened errors
Vector expected(6); Vector expected(6);
expected << -256, -29, 26, -29, 206, 202; expected << 256, 29, -26, 29, -206, -202;
SmartFactor::Cameras cameras1 = smartFactor1->cameras(initial);
Point3 point1 = *smartFactor1->point(); 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); Vector actual = smartFactor1->whitenedError(cameras1, point1);
EXPECT(assert_equal(expected, actual, 1)); EXPECT(assert_equal(expected, actual, 1));