diff --git a/test/gtest_factor_trifocal.cpp b/test/gtest_factor_trifocal.cpp index 0d15c6bb3d4e17d8e79f159c36d6904276caf533..099d1cf307a0c25b0ebfaf41e147d9e9a3975176 100644 --- a/test/gtest_factor_trifocal.cpp +++ b/test/gtest_factor_trifocal.cpp @@ -867,7 +867,7 @@ TEST_F(FactorTrifocalMultiPointTest, solve_multi_point_scale) } } -#include "core/factor/factor_autodiff_distance_3d.h" +#include <core/factor/factor_distance_3d.h> TEST_F(FactorTrifocalMultiPointTest, solve_multi_point_distance) { @@ -909,8 +909,8 @@ TEST_F(FactorTrifocalMultiPointTest, solve_multi_point_distance) auto fd = FeatureBase::emplace<FeatureBase>(Cd, "DISTANCE", Vector1d(distance), Matrix1d(distance_std * distance_std)); // FeatureBasePtr fd = std::make_shared<FeatureBase>("DISTANCE", Vector1d(distance), Matrix1d(distance_std * distance_std)); // Cd->addFeature(fd); - auto cd = FactorBase::emplace<FactorAutodiffDistance3d>(fd, fd, F1, nullptr, false, FAC_ACTIVE); - // FACTORAUTODIFFDISTANCE3dPTR cd = std::make_shared<FactorAutodiffDistance3d>(fd, F1, nullptr, false, FAC_ACTIVE); + auto cd = FactorBase::emplace<FactorDistance3d>(fd, fd, F1, nullptr, false, FAC_ACTIVE); + // FactorDistance3dPtr cd = std::make_shared<FactorAutodiffDistance3d>(fd, F1, nullptr, false, FAC_ACTIVE); // fd->addFactor(cd); // F1->addConstrainedBy(cd);