From a6e728f4e69d31ca8e561b2b6555ac20e53743f7 Mon Sep 17 00:00:00 2001 From: lcarlone Date: Sat, 28 Aug 2021 14:47:32 -0400 Subject: [PATCH] all tests pass also with THROW cheirality --- gtsam/geometry/tests/testTriangulation.cpp | 7 +++++-- 1 file changed, 5 insertions(+), 2 deletions(-) diff --git a/gtsam/geometry/tests/testTriangulation.cpp b/gtsam/geometry/tests/testTriangulation.cpp index 8afae8c61..d43424b96 100644 --- a/gtsam/geometry/tests/testTriangulation.cpp +++ b/gtsam/geometry/tests/testTriangulation.cpp @@ -520,6 +520,7 @@ TEST( triangulation, twoPoses_sphericalCamera_extremeFOV) { double rank_tol = 1e-9; + { // 1. Test simple DLT, when 1 point is behind spherical camera bool optimize = false; #ifdef GTSAM_THROW_CHEIRALITY_EXCEPTION @@ -531,9 +532,10 @@ TEST( triangulation, twoPoses_sphericalCamera_extremeFOV) { triangulatePoint3(cameras, measurements, rank_tol, optimize); EXPECT(assert_equal(landmarkL, *actual1, 1e-7)); #endif - + } + { // 2. test with optimization on, same answer - optimize = true; + bool optimize = true; #ifdef GTSAM_THROW_CHEIRALITY_EXCEPTION CHECK_EXCEPTION( triangulatePoint3(cameras, measurements, rank_tol, @@ -543,6 +545,7 @@ TEST( triangulation, twoPoses_sphericalCamera_extremeFOV) { triangulatePoint3(cameras, measurements, rank_tol, optimize); EXPECT(assert_equal(landmarkL, *actual1, 1e-7)); #endif + } } //******************************************************************************