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Minor fixes.

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1. Remove an unused private member in TukeyLoss.
2. The test for RotationMatrixToAngle had an indexing error.

Change-Id: I7decc9448ae0abef53aa435005f739e9e0931e80
This commit is contained in:
Sameer Agarwal
2014-11-14 07:31:31 -08:00
parent c9be6a6f3e
commit 993622e915
2 changed files with 6 additions and 6 deletions
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include/ceres/loss_function.h
+1 -2
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@@ -285,11 +285,10 @@ class CERES_EXPORT TolerantLoss : public LossFunction {
// At s = 0: rho = [0, 0.5, -1 / a^2]
class CERES_EXPORT TukeyLoss : public ceres::LossFunction {
public:
explicit TukeyLoss(double a) : a_(a), a_squared_(a * a) { }
explicit TukeyLoss(double a) : a_squared_(a * a) { }
virtual void Evaluate(double, double*) const;
private:
const double a_;
const double a_squared_;
};
internal/ceres/rotation_test.cc
+5 -4
View File
@@ -1108,10 +1108,11 @@ void CheckRotationMatrixToAngleAxisRoundTrip(const double theta,
TEST(RotationMatrixToAngleAxis, ExhaustiveRoundTrip) {
const double kMaxSmallAngle = 1e-8;
for (int i = 0; i < 1000; ++i) {
const double theta = static_cast<double>(i) / 100.0 * 2.0 * kPi;
for (int j = 0; j < 1000; ++j) {
const double phi = static_cast<double>(j) / 100.0 * kPi;
const int kNumSteps = 1000;
for (int i = 0; i < kNumSteps; ++i) {
const double theta = static_cast<double>(i) / kNumSteps * 2.0 * kPi;
for (int j = 0; j < kNumSteps; ++j) {
const double phi = static_cast<double>(j) / kNumSteps * kPi;
// Rotations of angle Pi.
CheckRotationMatrixToAngleAxisRoundTrip(theta, phi, kPi);
// Rotation of angle approximately Pi.