From b5dd96d8e75e783b90955296628ba2d241ed0034 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Joan=20Sol=C3=A0?= <jsola@iri.upc.edu>
Date: Tue, 30 Jul 2019 14:22:34 +0200
Subject: [PATCH] Update gtest_factor_diff_drive.cpp
Minor clieanup
---
test/gtest_factor_diff_drive.cpp | 6 ++----
1 file changed, 2 insertions(+), 4 deletions(-)
diff --git a/test/gtest_factor_diff_drive.cpp b/test/gtest_factor_diff_drive.cpp
index b1e8f781f..6a9e0ddb9 100644
--- a/test/gtest_factor_diff_drive.cpp
+++ b/test/gtest_factor_diff_drive.cpp
@@ -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 =========");
--
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