changes

2 files changed, 65 insertions, 4 deletions

diff --git a/tests/Makefile b/tests/Makefile
index 06e42ae..d27c965 100644
--- a/tests/Makefile
+++ b/tests/Makefile
@@ -1,4 +1,4 @@
-OBJECT=test_feature.o ../src/feature.o ../src/camera.o  
+OBJECT=test_feature.o ../src/feature.o ../src/camera.o   ../src/camera.h
 CXXFLAGS+=-O2 -march=native -std=c++11 -pedantic-errors
 CXXFLAGS+=-g -I../src
 CXXFLAGS+=$(shell pkg-config --cflags eigen3 yaml-cpp)
diff --git a/tests/test_feature.cpp b/tests/test_feature.cpp
index 13b4e0a..4e6acc2 100644
--- a/tests/test_feature.cpp
+++ b/tests/test_feature.cpp
@@ -31,14 +31,24 @@ test_findDepth ( Camera &cam )
 {
     bool success;
     UTM pos;
+    /* 16.bmp
     pos.northing = 4451490.899494356;
     pos.easting = 381887.311030777;
     pos.up = 206.256890383;
+    */
+    // 9494.bmp
+    pos.northing = 4451693.139997130;
+    pos.easting = 382292.412884794;
+    pos.up = 203.230833591;
     pos.zone_i = 16;
     pos.zone_c = 'T';
 
+    /*
     // Quat for 16.bmp
     attitude_t att{ -1.073641623878,2.685395530695,16.357370508605};
+    */
+    // Quat for 9494.bmp
+    attitude_t att{ 1.669725078950,4.920310214269,49.251704514034};
 
     double roll, pitch, yaw;
     roll = M_PI*att.roll/180.;
@@ -51,7 +61,56 @@ test_findDepth ( Camera &cam )
       *  AngleAxisd(pitch, Vector3d::UnitY());
     q = Quaterniond(R);
 
-    Matrix<double,26,5> meas;
+    Matrix<double,48,5> meas;
+    meas << 94,201,258,192,509,
+    184,210,265,200,480,
+    588,297,265,296,386,
+    614,483,267,487,316,
+    810,352,251,355,415,
+    996,147,267,142,384,
+    1062,182,250,179,510,
+    1070,82,246,73,416,
+    1072,280,278,282,373,
+    1146,274,257,272,402,
+    1152,156,282,149,382,
+    1274,249,263,246,393,
+    1370,134,253,123,419,
+    1432,238,265,242,381,
+    1474,235,239,242,431,
+    1520,270,276,271,368,
+    1588,479,217,463,444,
+    1640,249,273,252,363,
+    1692,158,236,142,463,
+    1724,271,255,272,387,
+    1784,187,260,185,383,
+    1792,335,266,338,348,
+    1812,111,242,96,422,
+    1820,59,226,49,437,
+    1826,193,208,193,507,
+    1834,160,245,154,412,
+    1856,184,169,191,502,
+    1862,288,219,293,422,
+    1870,220,235,216,432,
+    1872,309,283,309,348,
+    1938,89,237,81,414,
+    1976,161,189,168,496,
+    1984,192,187,196,506,
+    2002,156,226,153,421,
+    2004,273,208,273,471,
+    2008,63,267,59,390,
+    2014,306,267,308,363,
+    2034,205,235,201,400,
+    2084,149,167,148,518,
+    2114,243,295,239,330,
+    2120,143,223,141,417,
+    2134,176,188,163,470,
+    2142,194,229,189,400,
+    2168,55,237,47,399,
+    2192,110,94,115,491,
+    2194,221,268,220,353,
+    2200,197,118,201,506,
+    2220,212,245,212,381;
+/*
     meas << 162,493,260,493,331,
         66,370,229,369,352,
         268,763,235,764,364,
@@ -78,10 +137,11 @@ test_findDepth ( Camera &cam )
         1262,547,219,546,360,
         1274,314,218,313,354,
         1278,469,217,469,365;
+        */
 
     double z;
-    z = -0.34;
-    z -= 0.6*3.43*sin(pitch);
+    z = -0.55;
+    z -= 0.65*3.43*sin(pitch);
 
     Vector3d xbw;
     xbw << pos.northing, pos.easting, -pos.up;
@@ -100,6 +160,7 @@ test_findDepth ( Camera &cam )
         xr = cam.img2body(xri);
 
         Feature f(id,xs,xr,xbw,q,z);
+        //Feature f(id,xs,xbw,q);
         if (f.sane()) 
         {
             UTM utmi;