13 lines
362 B
Matlab
13 lines
362 B
Matlab
% test Cal3Unified
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import gtsam.*;
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K = Cal3Unified;
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EXPECT('fx',K.fx()==1);
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EXPECT('fy',K.fy()==1);
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params = PreintegrationParams.MakeSharedU(-9.81);
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%params.getOmegaCoriolis()
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expectedBodyPSensor = gtsam.Pose3(gtsam.Rot3(0, 0, 0, 0, 0, 0, 0, 0, 0), gtsam.Point3(0, 0, 0));
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EXPECT('getBodyPSensor', expectedBodyPSensor.equals(params.getBodyPSensor(), 1e-9));
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