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small covariance change

release/4.3a0
Akshay Krishnan 2021-06-14 02:02:01 +00:00
parent 285f0413a8
commit 373b109228
1 changed files with 1 additions and 1 deletions
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gtsam/slam/tests/testEssentialMatrixFactor.cpp
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@ -547,7 +547,7 @@ TEST(EssentialMatrixFactor4, minimizationWithStrongCal3BundlerPrior) {
// add prior factor for calibration // add prior factor for calibration
Vector3 priorNoiseModelSigma; Vector3 priorNoiseModelSigma;
priorNoiseModelSigma << 1, 1, 1; priorNoiseModelSigma << 0.1, 0.1, 0.1;
graph.emplace_shared<PriorFactor<Cal3Bundler>>(2, trueK, noiseModel::Diagonal::Sigmas(priorNoiseModelSigma)); graph.emplace_shared<PriorFactor<Cal3Bundler>>(2, trueK, noiseModel::Diagonal::Sigmas(priorNoiseModelSigma));
LevenbergMarquardtOptimizer optimizer(graph, initial); LevenbergMarquardtOptimizer optimizer(graph, initial);