Skip to content
Snippets Groups Projects
Commit b5dd96d8 authored by Joan Solà Ortega's avatar Joan Solà Ortega
Browse files

Update gtest_factor_diff_drive.cpp

Minor clieanup
parent 7478990e
No related branches found
No related tags found
No related merge requests found
Pipeline #4114 passed
......@@ -479,10 +479,9 @@ TEST(FactorDiffDrive, preintegrate_and_solve_sensor_intrinsics_gt)
auto F2 = problem->getLastKeyFrame();
// Fix boundaries and unfix S ;
// Fix boundaries
F0->fix();
F2->fix();
sensor->unfixIntrinsics();
// Perturb S
Vector3s calib_pert = calib_gt + Vector3s::Random()*0.2;
......@@ -615,10 +614,9 @@ TEST(FactorDiffDrive, preintegrate_and_solve_sensor_intrinsics)
F2->setState(x2); // Impose known final state regardless of integrated value.
// Fix boundaries and unfix S ;
// Fix boundaries
F0->fix();
F2->fix();
sensor->unfixIntrinsics();
WOLF_TRACE("\n ========== SOLVE =========");
......
0% Loading or .
You are about to add 0 people to the discussion. Proceed with caution.
Finish editing this message first!
Please register or to comment