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

bug fix, disable redundant message

release/4.3a0
Yong-Dian Jian 2010-12-29 00:49:07 +00:00
parent 5f9039a2c8
commit 50965ee7d9
1 changed files with 19 additions and 19 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

38
gtsam/slam/tests/testGeneralSFMFactor.cpp
View File

@ -192,12 +192,12 @@ TEST( GeneralSFMFactor, optimize_defaultK ) {
NonlinearOptimizationParameters::sharedThis params (
new NonlinearOptimizationParameters(1e-5, 1e-5, 0.0, 100, 1e-5, 10, NonlinearOptimizationParameters::SILENT));
Optimizer optimizer(graph, values, ordering, params);
cout << "optimize_defaultK::" << endl ;
cout << "before optimization, error is " << optimizer.error() << endl;
//cout << "optimize_defaultK::" << endl ;
//cout << "before optimization, error is " << optimizer.error() << endl;
Optimizer optimizer2 = optimizer.levenbergMarquardt();
cout << "after optimization, error is " << optimizer2.error() << endl;
//cout << "after optimization, error is " << optimizer2.error() << endl;
//optimizer2.values()->print("optimized") ;
CHECK(optimizer2.error() < 0.5 * 1e-1 * nMeasurements);
CHECK(optimizer2.error() < 0.5 * 1e-5 * nMeasurements);
}
@ -237,16 +237,16 @@ TEST( GeneralSFMFactor, optimize_varK_SingleMeasurementError ) {
}
graph->addCameraConstraint(0, X[0]);
const double reproj_error = 0.5 ;
const double reproj_error = 1e-5;
shared_ptr<Ordering> ordering = getOrdering(X,L);
NonlinearOptimizationParameters::sharedThis params (
new NonlinearOptimizationParameters(1e-5, 1e-5, 0.0, 100, 1e-5, 10, NonlinearOptimizationParameters::SILENT));
Optimizer optimizer(graph, values, ordering, params);
cout << "optimize_varK_SingleMeasurementError::" << endl ;
cout << "before optimization, error is " << optimizer.error() << endl;
//cout << "optimize_varK_SingleMeasurementError::" << endl ;
//cout << "before optimization, error is " << optimizer.error() << endl;
Optimizer optimizer2 = optimizer.levenbergMarquardt();
cout << "after optimization, error is " << optimizer2.error() << endl;
//cout << "after optimization, error is " << optimizer2.error() << endl;
CHECK(optimizer2.error() < 0.5 * reproj_error * nMeasurements);
}
@ -289,10 +289,10 @@ TEST( GeneralSFMFactor, optimize_varK_FixCameras ) {
new NonlinearOptimizationParameters(1e-5, 1e-5, 0.0, 100, 1e-3, 10, NonlinearOptimizationParameters::SILENT));
Optimizer optimizer(graph, values, ordering, params);
cout << "optimize_varK_FixCameras::" << endl ;
cout << "before optimization, error is " << optimizer.error() << endl;
//cout << "optimize_varK_FixCameras::" << endl ;
//cout << "before optimization, error is " << optimizer.error() << endl;
Optimizer optimizer2 = optimizer.levenbergMarquardt();
cout << "after optimization, error is " << optimizer2.error() << endl;
//cout << "after optimization, error is " << optimizer2.error() << endl;
CHECK(optimizer2.error() < 0.5 * reproj_error * nMeasurements);
}
@ -353,10 +353,10 @@ TEST( GeneralSFMFactor, optimize_varK_FixLandmarks ) {
// new NonlinearOptimizationParameters(1e-7, 1e-7, 0.0, 100, 1e-5, 10, NonlinearOptimizationParameters::TRYDELTA));
Optimizer optimizer(graph, values, ordering, params);
cout << "optimize_varK_FixLandmarks::" << endl ;
cout << "before optimization, error is " << optimizer.error() << endl;
//cout << "optimize_varK_FixLandmarks::" << endl ;
//cout << "before optimization, error is " << optimizer.error() << endl;
Optimizer optimizer2 = optimizer.levenbergMarquardt();
cout << "after optimization, error is " << optimizer2.error() << endl;
//cout << "after optimization, error is " << optimizer2.error() << endl;
CHECK(optimizer2.error() < 0.5 * reproj_error * nMeasurements);
}
@ -391,17 +391,17 @@ TEST( GeneralSFMFactor, optimize_varK_BA ) {
}
graph->addCameraConstraint(0, X[0]);
const double reproj_error = 0.5 ;
const double reproj_error = 1e-5 ;
shared_ptr<Ordering> ordering = getOrdering(X,L);
NonlinearOptimizationParameters::sharedThis params (
new NonlinearOptimizationParameters(1e-5, 1e-5, 0.0, 100, 1e-5, 10, NonlinearOptimizationParameters::ERROR));
new NonlinearOptimizationParameters(1e-5, 1e-5, 0.0, 100, 1e-5, 10, NonlinearOptimizationParameters::SILENT));
Optimizer optimizer(graph, values, ordering, params);
cout << "optimize_varK_BA::" << endl ;
cout << "before optimization, error is " << optimizer.error() << endl;
//cout << "optimize_varK_BA::" << endl ;
//cout << "before optimization, error is " << optimizer.error() << endl;
Optimizer optimizer2 = optimizer.levenbergMarquardt();
cout << "after optimization, error is " << optimizer2.error() << endl;
//cout << "after optimization, error is " << optimizer2.error() << endl;
CHECK(optimizer2.error() < 0.5 * reproj_error * nMeasurements);
}