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

Running optimization

release/4.3a0
Frank Dellaert 2020-03-08 03:05:38 -04:00
parent d8f3ca46a4
commit 652302f5ad
1 changed files with 8 additions and 13 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

21
tests/testTranslationRecovery.cpp
View File

@ -200,8 +200,9 @@ class TranslationRecovery {
const auto graph = buildGraph(); const auto graph = buildGraph();
const Values initial = initalizeRandomly(); const Values initial = initalizeRandomly();
LevenbergMarquardtOptimizer lm(graph, initial); LevenbergMarquardtParams params;
params.setVerbosityLM("Summary");
LevenbergMarquardtOptimizer lm(graph, initial, params);
Values result = lm.optimize(); Values result = lm.optimize();
return result; return result;
@ -296,18 +297,12 @@ TEST(TranslationRecovery, BAL) {
const auto result = algorithm.run(2); const auto result = algorithm.run(2);
// Check result // Check result
// Pose3 expected0(wTa.rotation(), Point3(0, 0, 0)); EXPECT(assert_equal(Point3(0, 0, 0), result.at<Point3>(0)));
// EXPECT(assert_equal(expected0, result.at<Pose3>(0))); EXPECT(assert_equal(Point3(2 * w_aZb.point3()), result.at<Point3>(1)));
// Pose3 expected1(wTb.rotation(), 2 * w_aZb.point3()); EXPECT(assert_equal(Point3(0, 0, 0), result.at<Point3>(2)));
// EXPECT(assert_equal(expected1, result.at<Pose3>(1)));
// Values initial = randomTranslations(); // TODO(frank): how to get stats back
// EXPECT_DOUBLES_EQUAL(0.0199833, actualError, 1e-5);
// LevenbergMarquardtOptimizer lm(graph, initial);
// Values actual = lm.optimize();
// double actualError = graph.error(actual);
// EXPECT_DOUBLES_EQUAL(0.0199833, actualError, 1e-5);
} }
/* ************************************************************************* */ /* ************************************************************************* */