Removed commentted out and print-s
parent
e312abdbf0
commit
3c0671ba8d
|
@ -364,9 +364,8 @@ TEST(NonlinearOptimizer, Pose2OptimizationWithHuberNoOutlier) {
|
|||
lm_params.setAbsoluteErrorTol(0);
|
||||
lm_params.setMaxIterations(100);
|
||||
lm_params.setlambdaUpperBound(1e10);
|
||||
// lm_params.setVerbosityLM("TRYLAMBDA");
|
||||
|
||||
gtsam::NonlinearConjugateGradientOptimizer::Parameters cg_params;
|
||||
NonlinearConjugateGradientOptimizer::Parameters cg_params;
|
||||
cg_params.setErrorTol(0);
|
||||
cg_params.setMaxIterations(100000);
|
||||
cg_params.setRelativeErrorTol(0);
|
||||
|
@ -377,8 +376,6 @@ TEST(NonlinearOptimizer, Pose2OptimizationWithHuberNoOutlier) {
|
|||
dl_params.setAbsoluteErrorTol(0);
|
||||
dl_params.setMaxIterations(100);
|
||||
|
||||
// cg_params.setVerbosity("ERROR");
|
||||
|
||||
auto cg_result = NonlinearConjugateGradientOptimizer(fg, init, cg_params).optimize();
|
||||
auto gn_result = GaussNewtonOptimizer(fg, init).optimize();
|
||||
auto lm_result = LevenbergMarquardtOptimizer(fg, init, lm_params).optimize();
|
||||
|
@ -414,19 +411,11 @@ TEST(NonlinearOptimizer, Point2LinearOptimizationWithHuber) {
|
|||
expected.insert(1, Point2(1,1.85));
|
||||
|
||||
LevenbergMarquardtParams params;
|
||||
gtsam::NonlinearConjugateGradientOptimizer::Parameters cg_params;
|
||||
cg_params.setErrorTol(0);
|
||||
cg_params.setMaxIterations(100000);
|
||||
cg_params.setRelativeErrorTol(0);
|
||||
cg_params.setAbsoluteErrorTol(0);
|
||||
NonlinearConjugateGradientOptimizer::Parameters cg_params;
|
||||
|
||||
// cg_params.setVerbosity("ERROR");
|
||||
auto cg_result = NonlinearConjugateGradientOptimizer(fg, init, cg_params).optimize();
|
||||
|
||||
auto gn_result = GaussNewtonOptimizer(fg, init).optimize();
|
||||
|
||||
auto lm_result = LevenbergMarquardtOptimizer(fg, init, params).optimize();
|
||||
|
||||
auto dl_result = DoglegOptimizer(fg, init).optimize();
|
||||
|
||||
EXPECT(assert_equal(expected, gn_result, 1e-4));
|
||||
|
@ -468,13 +457,9 @@ TEST(NonlinearOptimizer, Pose2OptimizationWithHuber) {
|
|||
cg_params.setRelativeErrorTol(0);
|
||||
cg_params.setAbsoluteErrorTol(0);
|
||||
|
||||
// cg_params.setVerbosity("ERROR");
|
||||
auto cg_result = NonlinearConjugateGradientOptimizer(fg, init, cg_params).optimize();
|
||||
fg.printErrors(cg_result);
|
||||
auto gn_result = GaussNewtonOptimizer(fg, init).optimize();
|
||||
|
||||
auto lm_result = LevenbergMarquardtOptimizer(fg, init, params).optimize();
|
||||
|
||||
auto dl_result = DoglegOptimizer(fg, init).optimize();
|
||||
|
||||
EXPECT(assert_equal(expected, gn_result, 1e-1));
|
||||
|
@ -504,7 +489,6 @@ TEST(NonlinearOptimizer, RobustMeanCalculation) {
|
|||
expected.insert(0, 3.33333333);
|
||||
|
||||
LevenbergMarquardtParams params;
|
||||
// params.setVerbosityLM("TRYLAMBDA");
|
||||
params.setAbsoluteErrorTol(1e-20);
|
||||
params.setRelativeErrorTol(1e-20);
|
||||
|
||||
|
@ -513,22 +497,12 @@ TEST(NonlinearOptimizer, RobustMeanCalculation) {
|
|||
cg_params.setMaxIterations(10000);
|
||||
cg_params.setRelativeErrorTol(0);
|
||||
cg_params.setAbsoluteErrorTol(0);
|
||||
// cg_params.setVerbosity("ERROR");
|
||||
|
||||
auto cg_result = NonlinearConjugateGradientOptimizer(fg, init, cg_params).optimize();
|
||||
// cg_result.print("CG: ");
|
||||
// cout << fg.error(cg_result) << endl << endl << endl;
|
||||
|
||||
auto gn_result = GaussNewtonOptimizer(fg, init).optimize();
|
||||
// gn_result.print("GN: ");
|
||||
// cout << fg.error(gn_result) << endl << endl << endl;
|
||||
|
||||
auto lm_result = LevenbergMarquardtOptimizer(fg, init, params).optimize();
|
||||
// lm_result.print("LM: ");
|
||||
// cout << fg.error(lm_result) << endl << endl << endl;
|
||||
|
||||
auto dl_result = DoglegOptimizer(fg, init).optimize();
|
||||
// dl_result.print("DL: ");
|
||||
// cout << fg.error(dl_result) << endl << endl << endl;
|
||||
|
||||
EXPECT(assert_equal(expected, gn_result, tol));
|
||||
EXPECT(assert_equal(expected, gn_result, tol));
|
||||
EXPECT(assert_equal(expected, lm_result, tol));
|
||||
|
|
Loading…
Reference in New Issue