From a5e3c8c0f649045d470802f14089d53261fbf147 Mon Sep 17 00:00:00 2001 From: Oscar Mendez Date: Sun, 17 Dec 2023 18:30:46 +0000 Subject: [PATCH] Linting fixes for CI. --- .../fuse_constraints/reprojection_error_cost_functor.h | 1 - .../test/test_reprojection_error_snavelly_constraint.cpp | 4 ++-- 2 files changed, 2 insertions(+), 3 deletions(-) diff --git a/fuse_constraints/include/fuse_constraints/reprojection_error_cost_functor.h b/fuse_constraints/include/fuse_constraints/reprojection_error_cost_functor.h index f0e907c88..45a6922f7 100644 --- a/fuse_constraints/include/fuse_constraints/reprojection_error_cost_functor.h +++ b/fuse_constraints/include/fuse_constraints/reprojection_error_cost_functor.h @@ -106,7 +106,6 @@ template bool ReprojectionErrorCostFunctor::operator()(const T* const position, const T* const orientation, const T* const calibration, const T* const point, T* residual) const { - // Point to Camera CF ( X' = [R|t] X = RX + t ) // Rotate Point (RX) T p[3]; diff --git a/fuse_constraints/test/test_reprojection_error_snavelly_constraint.cpp b/fuse_constraints/test/test_reprojection_error_snavelly_constraint.cpp index 51d4eaeb9..c576d6d6e 100644 --- a/fuse_constraints/test/test_reprojection_error_snavelly_constraint.cpp +++ b/fuse_constraints/test/test_reprojection_error_snavelly_constraint.cpp @@ -192,8 +192,8 @@ TEST(ReprojectionErrorSnavellyConstraint, Optimization) // Check EXPECT_NEAR(0.00, position_variable->x(), 1.0e-2); // 1cm error (too few points for more accuracy) - EXPECT_NEAR(0.00, position_variable->y(), 1.0e-2); - EXPECT_NEAR(0.00, position_variable->z(), 1.0e-2); + EXPECT_NEAR(0.00, position_variable->y(), 1.0e-2); + EXPECT_NEAR(0.00, position_variable->z(), 1.0e-2); EXPECT_NEAR(1.0, orientation_variable->w(), 1.0e-3); EXPECT_NEAR(0.00, orientation_variable->x(), 1.0e-3);