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bug fix

release/4.3a0
Yong-Dian Jian 2010-12-28 23:07:02 +00:00
parent 97dfe6c034
commit 21d2dba609
1 changed files with 7 additions and 7 deletions
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14
gtsam/slam/tests/testGeneralSFMFactor.cpp
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@ -319,19 +319,19 @@ TEST( GeneralSFMFactor, optimize_varK_FixLandmarks ) {
rot_noise = 1e-5, rot_noise = 1e-5,
trans_noise = 1e-3, trans_noise = 1e-3,
focal_noise = 1, focal_noise = 1,
skew_noise = 1e-5, skew_noise = 1e-5;
distort_noise = 1e-5 ;
if ( i == 0 ) { if ( i == 0 ) {
values->insert((int)i, X[i]) ; values->insert((int)i, X[i]) ;
} }
else { else {
Vector delta = Vector_(11, Vector delta = Vector_(11,
rot_noise, rot_noise, rot_noise, trans_noise, trans_noise, trans_noise, rot_noise, rot_noise, rot_noise, // rotation
focal_noise, focal_noise, skew_noise, distort_noise, distort_noise) ; trans_noise, trans_noise, trans_noise, // translation
// pose_noise*getGaussian(), pose_noise*getGaussian(), pose_noise*getGaussian(), // rotation focal_noise, focal_noise, // f_x, f_y
// pose_noise*getGaussian(), pose_noise*getGaussian(), pose_noise*getGaussian(), // translation skew_noise, // s
// calib_noise*getGaussian(), calib_noise*getGaussian(), calib_noise*getGaussian(), calib_noise*getGaussian(), calib_noise*getGaussian()); // K) trans_noise, trans_noise // ux, uy
) ;
values->insert((int)i, X[i].expmap(delta)) ; values->insert((int)i, X[i].expmap(delta)) ;
} }
} }