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Check ceres rotation convention

release/4.3a0
Frank Dellaert 2015-07-04 15:25:18 -07:00
parent cb1672d292
commit 8ceaa8a3cc
1 changed files with 10 additions and 0 deletions
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10
gtsam/nonlinear/tests/testAdaptAutoDiff.cpp
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@ -59,6 +59,16 @@ typedef PinholeCamera<Cal> Camera;
using namespace std; using namespace std;
using namespace gtsam; using namespace gtsam;
/* ************************************************************************* */
// Make sure rotation convention is the same
TEST(AdaptAutoDiff, Rotation) {
Vector3 axisAngle(0.1,0.2,0.3);
Matrix3 expected = Rot3::rodriguez(axisAngle).matrix();
Matrix3 actual;
ceres::AngleAxisToRotationMatrix(axisAngle.data(), actual.data());
EXPECT(assert_equal(expected, actual));
}
/* ************************************************************************* */ /* ************************************************************************* */
// charts // charts
TEST(AdaptAutoDiff, Canonical) { TEST(AdaptAutoDiff, Canonical) {