diff --git a/CMakeLists.txt b/CMakeLists.txt index 9ee01c7dce630f0afd6f5522c89ed640e951f830..b9f3ad7358ad2dad416d6cf0c8923f23d5a90ece 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -227,6 +227,7 @@ SET(HDRS_FACTOR include/core/factor/factor_relative_pose_2d.h include/core/factor/factor_relative_pose_2d_with_extrinsics.h include/core/factor/factor_relative_pose_3d.h + include/core/factor/factor_pose_3d_with_extrinsics.h ) SET(HDRS_FEATURE include/core/feature/feature_base.h diff --git a/test/gtest_sensor_pose.cpp b/test/gtest_sensor_pose.cpp index 4884ae79a4db2e4d32bf4c34ba51dd3a47500b1f..64d6b73a1a77ddf4a1ee7a85f72164d4174c8ff6 100644 --- a/test/gtest_sensor_pose.cpp +++ b/test/gtest_sensor_pose.cpp @@ -39,6 +39,8 @@ TEST(Pose, getParams) ASSERT_EQ(sen->getStdP(), intr->std_p); ASSERT_EQ(sen->getStdO(), intr->std_o); + // ASSERT_EQ(sen->getNoiseCov()(0,0), (Vector1d() << 4).finished()); + // ASSERT_EQ(sen->getNoiseCov()(3,3), (Vector1d() << 9).finished()); } TEST(Pose, create) @@ -55,6 +57,8 @@ TEST(Pose, create) ASSERT_EQ(sen->getStdP(), intr->std_p); ASSERT_EQ(sen->getStdO(), intr->std_o); + // ASSERT_EQ(sen->getNoiseCov()(0,0), (Vector1d() << 4).finished()); + // ASSERT_EQ(sen->getNoiseCov()(3,3), (Vector1d() << 9).finished()); } int main(int argc, char **argv)