12345qiupeng
/
gtsam
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

update MFAS tests

release/4.3a0
Varun Agrawal 2020-11-16 12:31:44 -05:00
parent ac089ce6a3
commit 283582cd5d
1 changed files with 5 additions and 5 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

10
gtsam/sfm/tests/testMFAS.cpp
View File

@ -25,7 +25,7 @@ using namespace gtsam;
vector<MFAS::KeyPair> edges = {make_pair(3, 2), make_pair(0, 1), make_pair(3, 1),
make_pair(1, 2), make_pair(0, 2), make_pair(3, 0)};
// nodes in the graph
vector<Key> nodes = {Key(0), Key(1), Key(2), Key(3)};
KeyVector nodes = {Key(0), Key(1), Key(2), Key(3)};
// weights from projecting in direction-1 (bad direction, outlier accepted)
vector<double> weights1 = {2, 1.5, 0.5, 0.25, 1, 0.75};
// weights from projecting in direction-2 (good direction, outlier rejected)
@ -47,10 +47,10 @@ map<MFAS::KeyPair, double> getEdgeWeights(const vector<MFAS::KeyPair> &edges,
TEST(MFAS, OrderingWeights2) {
MFAS mfas_obj(getEdgeWeights(edges, weights2));
vector<Key> ordered_nodes = mfas_obj.computeOrdering();
KeyVector ordered_nodes = mfas_obj.computeOrdering();
// ground truth (expected) ordering in this example
vector<Key> gt_ordered_nodes = {0, 1, 3, 2};
KeyVector gt_ordered_nodes = {0, 1, 3, 2};
// check if the expected ordering is obtained
for (size_t i = 0; i < ordered_nodes.size(); i++) {
@ -77,10 +77,10 @@ TEST(MFAS, OrderingWeights2) {
TEST(MFAS, OrderingWeights1) {
MFAS mfas_obj(getEdgeWeights(edges, weights1));
vector<Key> ordered_nodes = mfas_obj.computeOrdering();
KeyVector ordered_nodes = mfas_obj.computeOrdering();
// "ground truth" expected ordering in this example
vector<Key> gt_ordered_nodes = {3, 0, 1, 2};
KeyVector gt_ordered_nodes = {3, 0, 1, 2};
// check if the expected ordering is obtained
for (size_t i = 0; i < ordered_nodes.size(); i++) {