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release/4.3a0
lcarlone 2020-11-27 16:31:32 -05:00
parent 7c22c2c402
commit 0f07251cf5
1 changed files with 24 additions and 5 deletions
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29
tests/testGncOptimizer.cpp
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@ -195,7 +195,7 @@ public:
Vector calculateWeights(const Values currentEstimate, const double mu){ Vector calculateWeights(const Values currentEstimate, const double mu){
Vector weights = Vector::Zero(nfg_.size()); Vector weights = Vector::Zero(nfg_.size());
switch(params_.lossType) { switch(params_.lossType) {
case GncParameters::GM: case GncParameters::GM: // use eq (12) in GNC paper
for (size_t k = 0; k < nfg_.size(); k++) { for (size_t k = 0; k < nfg_.size(); k++) {
if(nfg_[k]){ if(nfg_[k]){
double u2_k = nfg_[k]->error(currentEstimate); // squared (and whitened) residual double u2_k = nfg_[k]->error(currentEstimate); // squared (and whitened) residual
@ -315,10 +315,29 @@ TEST(GncOptimizer, checkMuConvergence) {
CHECK(gnc.checkMuConvergence(mu)); CHECK(gnc.checkMuConvergence(mu));
} }
///* ************************************************************************* */ /* ************************************************************************* */
//TEST(GncOptimizer, calculateWeights) { TEST(GncOptimizer, calculateWeights) {
//} // has to have Gaussian noise models !
// auto fg = example::sharedNonRobustFactorGraphWithOutliers();
Point2 p0(0, 0);
Values initial;
initial.insert(X(1), p0);
// we have 4 factors, 3 with zero errors (inliers), 1 with error 50 = 0.5 * 1/sigma^2 || [1;0] - [0;0] ||^2 (outlier)
Vector weights_expected = Vector::Zero(4);
weights_expected[0] = 1.0; // zero error
weights_expected[1] = 1.0; // zero error
weights_expected[2] = 1.0; // zero error
weights_expected[3] = std::pow(1.0 / (50.0 + 1.0),2); // outlier, error = 50
GaussNewtonParams gnParams;
GncParams<GaussNewtonParams> gncParams(gnParams);
auto gnc = GncOptimizer<GncParams<GaussNewtonParams>>(fg, initial, gncParams);
double mu = 1.0;
Vector weights_actual = gnc.calculateWeights(initial,mu);
CHECK(assert_equal(weights_expected, weights_actual, tol));
}
/* ************************************************************************* * /* ************************************************************************* *
TEST(GncOptimizer, makeGraph) { TEST(GncOptimizer, makeGraph) {