From e892499e8d8977b9178a760348bdd201ec5f3489 Mon Sep 17 00:00:00 2001
From: Je Hyeong Hong <jhh37@outlook.com>
Date: Tue, 18 Oct 2016 22:49:11 +0100
Subject: [PATCH] Relax the tolerance in QuaternionParameterizationTestHelper.

This commit relaxes the tolerance value for comparing between the actual
local matrix and the expected local matrix. Without this fix,
EigenQuaternionParameterization.ZeroTest could fail as the difference
exactly matches the value of std::numeric_limits<double>::epsilon().

Change-Id: Ic4d3f26c0acdf5f16fead80dfdc53df9e7dabbf9
---
 internal/ceres/local_parameterization_test.cc | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/internal/ceres/local_parameterization_test.cc b/internal/ceres/local_parameterization_test.cc
index d3c11c532..15f0bb136 100644
--- a/internal/ceres/local_parameterization_test.cc
+++ b/internal/ceres/local_parameterization_test.cc
@@ -295,7 +295,7 @@ void QuaternionParameterizationTestHelper(
       global_matrix * MatrixRef(jacobian, kGlobalSize, kLocalSize);
   EXPECT_NEAR((local_matrix - expected_local_matrix).norm(),
               0.0,
-              std::numeric_limits<double>::epsilon());
+              10.0 * std::numeric_limits<double>::epsilon());
 }
 
 template <int N>