From 5be31508140700f678f3911c61f8d0109edfef21 Mon Sep 17 00:00:00 2001
From: Mederic Fourmy <mederic.fourmy@gmail.com>
Date: Fri, 17 Jun 2022 09:47:51 +0200
Subject: [PATCH] Resolve merge conflict leftover
---
...test_processor_tracker_landmark_object.cpp | 30 +++----------------
1 file changed, 4 insertions(+), 26 deletions(-)
diff --git a/test/gtest_processor_tracker_landmark_object.cpp b/test/gtest_processor_tracker_landmark_object.cpp
index af488eb..bbc1c4c 100644
--- a/test/gtest_processor_tracker_landmark_object.cpp
+++ b/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)
--
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