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all tests pass also with THROW cheirality

release/4.3a0
lcarlone 2021-08-28 14:47:32 -04:00
parent 64b520aea4
commit a6e728f4e6
1 changed files with 5 additions and 2 deletions
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7
gtsam/geometry/tests/testTriangulation.cpp
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@ -520,6 +520,7 @@ TEST( triangulation, twoPoses_sphericalCamera_extremeFOV) {
double rank_tol = 1e-9; double rank_tol = 1e-9;
{
// 1. Test simple DLT, when 1 point is behind spherical camera // 1. Test simple DLT, when 1 point is behind spherical camera
bool optimize = false; bool optimize = false;
#ifdef GTSAM_THROW_CHEIRALITY_EXCEPTION #ifdef GTSAM_THROW_CHEIRALITY_EXCEPTION
@ -531,9 +532,10 @@ TEST( triangulation, twoPoses_sphericalCamera_extremeFOV) {
triangulatePoint3<SphericalCamera>(cameras, measurements, rank_tol, optimize); triangulatePoint3<SphericalCamera>(cameras, measurements, rank_tol, optimize);
EXPECT(assert_equal(landmarkL, *actual1, 1e-7)); EXPECT(assert_equal(landmarkL, *actual1, 1e-7));
#endif #endif
}
{
// 2. test with optimization on, same answer // 2. test with optimization on, same answer
optimize = true; bool optimize = true;
#ifdef GTSAM_THROW_CHEIRALITY_EXCEPTION #ifdef GTSAM_THROW_CHEIRALITY_EXCEPTION
CHECK_EXCEPTION( CHECK_EXCEPTION(
triangulatePoint3<SphericalCamera>(cameras, measurements, rank_tol, triangulatePoint3<SphericalCamera>(cameras, measurements, rank_tol,
@ -543,6 +545,7 @@ TEST( triangulation, twoPoses_sphericalCamera_extremeFOV) {
triangulatePoint3<SphericalCamera>(cameras, measurements, rank_tol, optimize); triangulatePoint3<SphericalCamera>(cameras, measurements, rank_tol, optimize);
EXPECT(assert_equal(landmarkL, *actual1, 1e-7)); EXPECT(assert_equal(landmarkL, *actual1, 1e-7));
#endif #endif
}
} }
//****************************************************************************** //******************************************************************************