diff options
Diffstat (limited to 'test/umeyama.cpp')
| -rw-r--r-- | test/umeyama.cpp | 9 |
1 files changed, 5 insertions, 4 deletions
diff --git a/test/umeyama.cpp b/test/umeyama.cpp index 738d0af70..2e8092434 100644 --- a/test/umeyama.cpp +++ b/test/umeyama.cpp @@ -130,10 +130,11 @@ void run_fixed_size_test(int num_elements) // MUST be positive because in any other case det(cR_t) may become negative for // odd dimensions! - const Scalar c = abs(internal::random<Scalar>()); + // Also if c is to small compared to t.norm(), problem is ill-posed (cf. Bug 744) + const Scalar c = internal::random<Scalar>(0.5, 2.0); FixedMatrix R = randMatrixSpecialUnitary<Scalar>(dim); - FixedVector t = Scalar(50)*FixedVector::Random(dim,1); + FixedVector t = Scalar(32)*FixedVector::Random(dim,1); HomMatrix cR_t = HomMatrix::Identity(dim+1,dim+1); cR_t.block(0,0,dim,dim) = c*R; @@ -149,9 +150,9 @@ void run_fixed_size_test(int num_elements) HomMatrix cR_t_umeyama = umeyama(src_block, dst_block); - const Scalar error = ( cR_t_umeyama*src - dst ).array().square().sum(); + const Scalar error = ( cR_t_umeyama*src - dst ).squaredNorm(); - VERIFY(error < Scalar(10)*std::numeric_limits<Scalar>::epsilon()); + VERIFY(error < Scalar(16)*std::numeric_limits<Scalar>::epsilon()); } void test_umeyama() |