From 79f47607f59b738bf8a6f719c8135d39e3349002 Mon Sep 17 00:00:00 2001
From: Joan Sola <jsola@iri.upc.edu>
Date: Thu, 22 Feb 2018 11:36:39 +0100
Subject: [PATCH] Cosmetics
---
src/test/gtest_odom_2D.cpp | 4 +++-
1 file changed, 3 insertions(+), 1 deletion(-)
diff --git a/src/test/gtest_odom_2D.cpp b/src/test/gtest_odom_2D.cpp
index dca613a8f..f4f0f22a6 100644
--- a/src/test/gtest_odom_2D.cpp
+++ b/src/test/gtest_odom_2D.cpp
@@ -402,7 +402,7 @@ TEST(Odom2D, KF_callback)
ceres_manager.computeCovariances(ALL_MARGINALS);
ASSERT_POSE2D_APPROX(problem->getLastKeyFramePtr()->getState() , integrated_pose_vector[n_split], 1e-6);
- ASSERT_MATRIX_APPROX(problem->getLastKeyFrameCovariance() , integrated_cov_vector [n_split], 1e-6);
+ ASSERT_MATRIX_APPROX(problem->getLastKeyFrameCovariance() , integrated_cov_vector [n_split], 1e-6);
////////////////////////////////////////////////////////////////
// Split between keyframes, exact timestamp
@@ -410,6 +410,8 @@ TEST(Odom2D, KF_callback)
t_split = t0 + m_split*dt;
// std::cout << "-----------------------------\nSplit between KFs; time: " << t_split - t0 << std::endl;
+ problem->print(4,1,1,1);
+
x_split = processor_odom2d->getState(t_split);
FrameBasePtr keyframe_1 = problem->emplaceFrame(KEY_FRAME, x_split, t_split);
--
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