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remove more collisions

release/4.3a0
Varun Agrawal 2025-05-17 00:12:26 -04:00
parent 12baf54d17
commit 4b6af3deb5
1 changed files with 11 additions and 11 deletions
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22
gtsam/sfm/tests/testShonanAveraging.cpp
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@ -45,7 +45,7 @@ ShonanAveraging3 fromExampleName(
static const ShonanAveraging3 kShonan = fromExampleName("toyExample.g2o"); static const ShonanAveraging3 kShonan = fromExampleName("toyExample.g2o");
static std::mt19937 kRandomNumberGenerator(42); static std::mt19937 kPRNG(42);
/* ************************************************************************* */ /* ************************************************************************* */
TEST(ShonanAveraging3, checkConstructor) { TEST(ShonanAveraging3, checkConstructor) {
@ -78,7 +78,7 @@ TEST(ShonanAveraging3, buildGraphAt) {
/* ************************************************************************* */ /* ************************************************************************* */
TEST(ShonanAveraging3, checkOptimality) { TEST(ShonanAveraging3, checkOptimality) {
const Values randomRotations = kShonan.initializeRandomly(kRandomNumberGenerator); const Values randomRotations = kShonan.initializeRandomly(kPRNG);
Values random = ShonanAveraging3::LiftTo<Rot3>(4, randomRotations); // lift to 4! Values random = ShonanAveraging3::LiftTo<Rot3>(4, randomRotations); // lift to 4!
auto Lambda = kShonan.computeLambda(random); auto Lambda = kShonan.computeLambda(random);
EXPECT_LONGS_EQUAL(15, Lambda.rows()); EXPECT_LONGS_EQUAL(15, Lambda.rows());
@ -106,7 +106,7 @@ TEST(ShonanAveraging3, checkSubgraph) {
// Create initial random estimation // Create initial random estimation
Values initial; Values initial;
initial = subgraphShonan.initializeRandomly(kRandomNumberGenerator); initial = subgraphShonan.initializeRandomly(kPRNG);
// Run Shonan with SUBGRAPH solver // Run Shonan with SUBGRAPH solver
auto result = subgraphShonan.run(initial, 3, 3); auto result = subgraphShonan.run(initial, 3, 3);
@ -115,7 +115,7 @@ TEST(ShonanAveraging3, checkSubgraph) {
/* ************************************************************************* */ /* ************************************************************************* */
TEST(ShonanAveraging3, tryOptimizingAt3) { TEST(ShonanAveraging3, tryOptimizingAt3) {
const Values randomRotations = kShonan.initializeRandomly(kRandomNumberGenerator); const Values randomRotations = kShonan.initializeRandomly(kPRNG);
Values initial = ShonanAveraging3::LiftTo<Rot3>(3, randomRotations); // convert to SOn Values initial = ShonanAveraging3::LiftTo<Rot3>(3, randomRotations); // convert to SOn
EXPECT(!kShonan.checkOptimality(initial)); EXPECT(!kShonan.checkOptimality(initial));
const Values result = kShonan.tryOptimizingAt(3, initial); const Values result = kShonan.tryOptimizingAt(3, initial);
@ -130,7 +130,7 @@ TEST(ShonanAveraging3, tryOptimizingAt3) {
/* ************************************************************************* */ /* ************************************************************************* */
TEST(ShonanAveraging3, tryOptimizingAt4) { TEST(ShonanAveraging3, tryOptimizingAt4) {
const Values randomRotations = kShonan.initializeRandomly(kRandomNumberGenerator); const Values randomRotations = kShonan.initializeRandomly(kPRNG);
Values random = ShonanAveraging3::LiftTo<Rot3>(4, randomRotations); // lift to 4! Values random = ShonanAveraging3::LiftTo<Rot3>(4, randomRotations); // lift to 4!
const Values result = kShonan.tryOptimizingAt(4, random); const Values result = kShonan.tryOptimizingAt(4, random);
EXPECT(kShonan.checkOptimality(result)); EXPECT(kShonan.checkOptimality(result));
@ -228,7 +228,7 @@ TEST(ShonanAveraging3, CheckWithEigen) {
/* ************************************************************************* */ /* ************************************************************************* */
TEST(ShonanAveraging3, initializeWithDescent) { TEST(ShonanAveraging3, initializeWithDescent) {
const Values randomRotations = kShonan.initializeRandomly(kRandomNumberGenerator); const Values randomRotations = kShonan.initializeRandomly(kPRNG);
Values random = ShonanAveraging3::LiftTo<Rot3>(3, randomRotations); Values random = ShonanAveraging3::LiftTo<Rot3>(3, randomRotations);
const Values Qstar3 = kShonan.tryOptimizingAt(3, random); const Values Qstar3 = kShonan.tryOptimizingAt(3, random);
Vector minEigenVector; Vector minEigenVector;
@ -240,7 +240,7 @@ TEST(ShonanAveraging3, initializeWithDescent) {
/* ************************************************************************* */ /* ************************************************************************* */
TEST(ShonanAveraging3, run) { TEST(ShonanAveraging3, run) {
auto initial = kShonan.initializeRandomly(kRandomNumberGenerator); auto initial = kShonan.initializeRandomly(kPRNG);
auto result = kShonan.run(initial, 5); auto result = kShonan.run(initial, 5);
EXPECT_DOUBLES_EQUAL(0, kShonan.cost(result.first), 1e-3); EXPECT_DOUBLES_EQUAL(0, kShonan.cost(result.first), 1e-3);
EXPECT_DOUBLES_EQUAL(-5.427688831332745e-07, result.second, EXPECT_DOUBLES_EQUAL(-5.427688831332745e-07, result.second,
@ -295,7 +295,7 @@ TEST(ShonanAveraging3, runKlaus) {
EXPECT(assert_equal(R02, wR0.between(wR2), 0.1)); EXPECT(assert_equal(R02, wR0.between(wR2), 0.1));
// Run Shonan (with prior on first rotation) // Run Shonan (with prior on first rotation)
auto initial = shonan.initializeRandomly(kRandomNumberGenerator); auto initial = shonan.initializeRandomly(kPRNG);
auto result = shonan.run(initial, 5); auto result = shonan.run(initial, 5);
EXPECT_DOUBLES_EQUAL(0, shonan.cost(result.first), 1e-2); EXPECT_DOUBLES_EQUAL(0, shonan.cost(result.first), 1e-2);
EXPECT_DOUBLES_EQUAL(-9.2259161494467889e-05, result.second, EXPECT_DOUBLES_EQUAL(-9.2259161494467889e-05, result.second,
@ -323,7 +323,7 @@ TEST(ShonanAveraging3, runKlausKarcher) {
static const ShonanAveraging3 shonan = fromExampleName("Klaus3.g2o"); static const ShonanAveraging3 shonan = fromExampleName("Klaus3.g2o");
// Run Shonan (with Karcher mean prior) // Run Shonan (with Karcher mean prior)
auto initial = shonan.initializeRandomly(kRandomNumberGenerator); auto initial = shonan.initializeRandomly(kPRNG);
auto result = shonan.run(initial, 5); auto result = shonan.run(initial, 5);
EXPECT_DOUBLES_EQUAL(0, shonan.cost(result.first), 1e-2); EXPECT_DOUBLES_EQUAL(0, shonan.cost(result.first), 1e-2);
EXPECT_DOUBLES_EQUAL(-1.361402670507772e-05, result.second, EXPECT_DOUBLES_EQUAL(-1.361402670507772e-05, result.second,
@ -353,7 +353,7 @@ TEST(ShonanAveraging2, noisyToyGraph) {
// Check graph building // Check graph building
NonlinearFactorGraph graph = shonan.buildGraphAt(2); NonlinearFactorGraph graph = shonan.buildGraphAt(2);
EXPECT_LONGS_EQUAL(6, graph.size()); EXPECT_LONGS_EQUAL(6, graph.size());
auto initial = shonan.initializeRandomly(kRandomNumberGenerator); auto initial = shonan.initializeRandomly(kPRNG);
auto result = shonan.run(initial, 2); auto result = shonan.run(initial, 2);
EXPECT_DOUBLES_EQUAL(0.0008211, shonan.cost(result.first), 1e-6); EXPECT_DOUBLES_EQUAL(0.0008211, shonan.cost(result.first), 1e-6);
EXPECT_DOUBLES_EQUAL(0, result.second, 1e-10); // certificate! EXPECT_DOUBLES_EQUAL(0, result.second, 1e-10); // certificate!
@ -391,7 +391,7 @@ TEST(ShonanAveraging2, noisyToyGraphWithHuber) {
} }
// test result // test result
auto initial = shonan.initializeRandomly(kRandomNumberGenerator); auto initial = shonan.initializeRandomly(kPRNG);
auto result = shonan.run(initial, 2,2); auto result = shonan.run(initial, 2,2);
EXPECT_DOUBLES_EQUAL(0.0008211, shonan.cost(result.first), 1e-6); EXPECT_DOUBLES_EQUAL(0.0008211, shonan.cost(result.first), 1e-6);
EXPECT_DOUBLES_EQUAL(0, result.second, 1e-10); // certificate! EXPECT_DOUBLES_EQUAL(0, result.second, 1e-10); // certificate!