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Fixed compilation issues due to renaming

release/4.3a0
dellaert 2015-03-09 17:43:00 -07:00
parent faadf5b06f
commit 0ab1b8631a
1 changed files with 4 additions and 3 deletions
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7
gtsam/slam/tests/testSmartProjectionPoseFactor.cpp
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@ -121,7 +121,7 @@ TEST_UNSAFE( SmartProjectionPoseFactor, noiseless ) {
// Calculate expected derivative for point (easiest to check) // Calculate expected derivative for point (easiest to check)
boost::function<Vector(Point3)> f = // boost::function<Vector(Point3)> f = //
boost::bind(&SmartFactor::whitenedErrors, factor, cameras, _1); boost::bind(&SmartFactor::whitenedError<Point3>, factor, cameras, _1);
// Calculate using computeEP // Calculate using computeEP
Matrix actualE; Matrix actualE;
@ -138,7 +138,7 @@ TEST_UNSAFE( SmartProjectionPoseFactor, noiseless ) {
// Calculate using reprojectionError // Calculate using reprojectionError
SmartFactor::Cameras::FBlocks F; SmartFactor::Cameras::FBlocks F;
Matrix E; Matrix E;
Vector actualErrors = factor.reprojectionError(cameras, *point, F, E); Vector actualErrors = factor.unwhitenedError(cameras, *point, F, E);
EXPECT(assert_equal(expectedE, E, 1e-7)); EXPECT(assert_equal(expectedE, E, 1e-7));
EXPECT(assert_equal(zero(4), actualErrors, 1e-7)); EXPECT(assert_equal(zero(4), actualErrors, 1e-7));
@ -146,7 +146,8 @@ TEST_UNSAFE( SmartProjectionPoseFactor, noiseless ) {
// Calculate using computeJacobians // Calculate using computeJacobians
Vector b; Vector b;
vector<SmartFactor::MatrixZD> Fblocks; vector<SmartFactor::MatrixZD> Fblocks;
double actualError3 = factor.computeJacobians(Fblocks, E, b, cameras, *point); factor.computeJacobians(Fblocks, E, b, cameras, *point);
double actualError3 = b.squaredNorm();
EXPECT(assert_equal(expectedE, E, 1e-7)); EXPECT(assert_equal(expectedE, E, 1e-7));
EXPECT_DOUBLES_EQUAL(expectedError, actualError3, 1e-8); EXPECT_DOUBLES_EQUAL(expectedError, actualError3, 1e-8);
} }