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Added test for subgraph preconditioner in shonan

release/4.3a0
jingwuOUO 2020-11-24 11:57:07 -05:00
parent 29e2339af8
commit 122edc1da4
1 changed files with 18 additions and 0 deletions
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18
gtsam/sfm/tests/testShonanAveraging.cpp
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@ -91,6 +91,24 @@ TEST(ShonanAveraging3, checkOptimality) {
EXPECT(!kShonan.checkOptimality(random));
}
/* ************************************************************************* */
TEST(ShonanAveraging3, checkSubgraph) {
// Create parameter with solver set to SUBGRAPH
auto params = ShonanAveragingParameters3(
gtsam::LevenbergMarquardtParams::CeresDefaults(), "SUBGRAPH");
ShonanAveraging3::Measurements measurements;
auto subgraphShonan = fromExampleName("toyExample.g2o", params);
// Create initial random estimation
Values initial;
initial = subgraphShonan.initializeRandomly(kRandomNumberGenerator);
// Run Shonan with SUBGRAPH solver
auto result = subgraphShonan.run(initial, 3, 3);
EXPECT_DOUBLES_EQUAL(1e-11, subgraphShonan.cost(result.first), 1e-4);
}
/* ************************************************************************* */
TEST(ShonanAveraging3, tryOptimizingAt3) {
const Values randomRotations = kShonan.initializeRandomly(kRandomNumberGenerator);