diff --git a/test/gtest_factor_relative_pose_3d_with_extrinsics.cpp b/test/gtest_factor_relative_pose_3d_with_extrinsics.cpp index 1f3b181e612d32d5c44b2fdd83b0e7c77ce084d5..0f89a11003bd0e297ed6b3df283b6aba536ca5ea 100644 --- a/test/gtest_factor_relative_pose_3d_with_extrinsics.cpp +++ b/test/gtest_factor_relative_pose_3d_with_extrinsics.cpp @@ -130,7 +130,7 @@ class FactorRelativePose3dWithExtrinsics_class : public testing::Test{ // F1 is be origin KF VectorComposite x0(pose_robot, "PO", {3,4}); VectorComposite s0("PO", {Vector3d(1,1,1), Vector3d(1,1,1)}); - F1 = problem->setPriorFactor(x0, s0, 0.0, 0.1); + F1 = problem->setPriorFactor(x0, s0, 0.0); // the sensor is at origin as well as the robot. The measurement matches with the pose of the tag wrt sensor (and also wrt robot and world)