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ucla-vision / xivo

X Inertial-aided Visual Odometry
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Rodrigues Unit Tests Fail #48

Closed stephanietsuei closed 2 years ago

stephanietsuei commented 2 years ago

Some unit tests in src/test/test_rodrigues.cpp are failing. Problems may exist either in the unit tests or the common/rodrigues.h.

For the tests checking Jacobians, we should switch to checking individual elements of the Jacobian matrix (as is done in src/test/unittest_rodrigues.cpp) rather than just testing the norm.

agrawalparth10 commented 2 years ago

Addressed in #54