Resolve merge conflict leftover

test/gtest_processor_tracker_landmark_object.cpp

@@ -402,37 +402,15 @@ TEST_F(ProcessorTrackerLandmarkObject_fixture, matchingRANSAC)
     Quaterniond quat_cam(cl_M_ci.linear());
     Vector3d pos_cam = cl_M_ci.translation();
 
-<<<<<<< HEAD
-    Quaterniond quat_cam_RANSAC;
-    Eigen::Matrix3d wRf_R = best_model.linear();
-    quat_cam_RANSAC.coeffs() = R2q(wRf_R).coeffs().transpose();
+    Quaterniond quat_cam_RANSAC(best_model.linear());
     Vector3d pos_cam_RANSAC = best_model.translation();
 
-    //Check if isometry deduced in matching RANSAC is the same as cl_M_ci given
-    for (int i = 0; i < pos_cam.size(); i++)
-    {
-        ASSERT_TRUE(abs(pos_cam[i] - pos_cam_RANSAC[i]) < 0.0001);
-    }   
-    ASSERT_TRUE(abs(quat_cam.x() - quat_cam_RANSAC.x()) < 0.0001);
-    ASSERT_TRUE(abs(quat_cam.y() - quat_cam_RANSAC.y()) < 0.0001);
-    ASSERT_TRUE(abs(quat_cam.z() - quat_cam_RANSAC.z()) < 0.0001);
-    ASSERT_TRUE(abs(quat_cam.w() - quat_cam_RANSAC.w()) < 0.0001);
-
-    //Check if detections of outliers is correct
-    ASSERT_TRUE(outliers_idx.size() == 2);
-    ASSERT_TRUE(outliers_idx[0] == 2);
-    ASSERT_TRUE(outliers_idx[1] == 4);
-=======
-    Quaterniond quat_cam_RANSAC(outliers.second.linear());
-    Vector3d pos_cam_RANSAC = outliers.second.translation();
-
     ASSERT_MATRIX_APPROX(pos_cam, pos_cam_RANSAC, 1e-6)
     ASSERT_MATRIX_APPROX(quat_cam.coeffs(), quat_cam_RANSAC.coeffs(), 1e-6)
 
-    ASSERT_TRUE(outliers.first.size() == 2);
-    ASSERT_TRUE(outliers.first[0] == 2);
-    ASSERT_TRUE(outliers.first[1] == 4);
->>>>>>> cf5c29b8a52806842bc3265580ac6f701156dba8
+    ASSERT_TRUE(outliers_idx.size() == 2);
+    ASSERT_TRUE(outliers_idx[0] == 2);
+    ASSERT_TRUE(outliers_idx[1] == 4);
 }
 
 TEST(ProcessorTrackerLandmarkObject, isInliers)