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Relax eigen22f test criteria #2553

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Oct 13, 2018
Merged

Relax eigen22f test criteria #2553

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8 changes: 4 additions & 4 deletions test/common/test_eigen.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -556,25 +556,25 @@ TEST (PCL, eigen22f)
// test if U * V * U^T = M
r_result = r_vectors * r_eigenvalues.asDiagonal () * r_vectors.transpose ();
r_error = r_result - r_matrix;
diff = r_error.cwiseAbs (). sum ();
diff = r_error.cwiseAbs ().maxCoeff ();
EXPECT_LE (diff, epsilon);

// test if the eigenvalues are orthonormal
g_result = r_vectors * r_vectors.transpose ();
g_error = g_result - RMatrix::Identity ();
diff = g_error.cwiseAbs (). sum ();
diff = g_error.cwiseAbs ().maxCoeff ();
EXPECT_LE (diff, epsilon);

// test if column major matrices are also calculated correctly
eigen22 (c_matrix, c_vectors, c_eigenvalues);
c_result = c_vectors * c_eigenvalues.asDiagonal () * c_vectors.transpose ();
c_error = c_result - c_matrix;
diff = c_error.cwiseAbs (). sum ();
diff = c_error.cwiseAbs ().maxCoeff ();
EXPECT_LE (diff, epsilon);

g_result = c_vectors * c_vectors.transpose ();
g_error = g_result - CMatrix::Identity ();
diff = g_error.cwiseAbs (). sum ();
diff = g_error.cwiseAbs ().maxCoeff ();
EXPECT_LE (diff, epsilon);
}
}
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