From 21d2dba60920233607b63a5448bcaccf1abb2541 Mon Sep 17 00:00:00 2001 From: Yong-Dian Jian Date: Tue, 28 Dec 2010 23:07:02 +0000 Subject: [PATCH] bug fix --- gtsam/slam/tests/testGeneralSFMFactor.cpp | 14 +++++++------- 1 file changed, 7 insertions(+), 7 deletions(-) diff --git a/gtsam/slam/tests/testGeneralSFMFactor.cpp b/gtsam/slam/tests/testGeneralSFMFactor.cpp index b901298f9..7f4aed1c6 100644 --- a/gtsam/slam/tests/testGeneralSFMFactor.cpp +++ b/gtsam/slam/tests/testGeneralSFMFactor.cpp @@ -319,19 +319,19 @@ TEST( GeneralSFMFactor, optimize_varK_FixLandmarks ) { rot_noise = 1e-5, trans_noise = 1e-3, focal_noise = 1, - skew_noise = 1e-5, - distort_noise = 1e-5 ; + skew_noise = 1e-5; if ( i == 0 ) { values->insert((int)i, X[i]) ; } else { Vector delta = Vector_(11, - rot_noise, rot_noise, rot_noise, trans_noise, trans_noise, trans_noise, - focal_noise, focal_noise, skew_noise, distort_noise, distort_noise) ; -// pose_noise*getGaussian(), pose_noise*getGaussian(), pose_noise*getGaussian(), // rotation -// pose_noise*getGaussian(), pose_noise*getGaussian(), pose_noise*getGaussian(), // translation -// calib_noise*getGaussian(), calib_noise*getGaussian(), calib_noise*getGaussian(), calib_noise*getGaussian(), calib_noise*getGaussian()); // K) + rot_noise, rot_noise, rot_noise, // rotation + trans_noise, trans_noise, trans_noise, // translation + focal_noise, focal_noise, // f_x, f_y + skew_noise, // s + trans_noise, trans_noise // ux, uy + ) ; values->insert((int)i, X[i].expmap(delta)) ; } }