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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
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21
tests/testTranslationRecovery.cpp
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@ -200,8 +200,9 @@ class TranslationRecovery {
const auto graph = buildGraph();
const Values initial = initalizeRandomly();
LevenbergMarquardtOptimizer lm(graph, initial);
LevenbergMarquardtParams params;
params.setVerbosityLM("Summary");
LevenbergMarquardtOptimizer lm(graph, initial, params);
Values result = lm.optimize();
return result;
@ -296,18 +297,12 @@ TEST(TranslationRecovery, BAL) {
const auto result = algorithm.run(2);
// Check result
// Pose3 expected0(wTa.rotation(), Point3(0, 0, 0));
// EXPECT(assert_equal(expected0, result.at<Pose3>(0)));
// Pose3 expected1(wTb.rotation(), 2 * w_aZb.point3());
// EXPECT(assert_equal(expected1, result.at<Pose3>(1)));
EXPECT(assert_equal(Point3(0, 0, 0), result.at<Point3>(0)));
EXPECT(assert_equal(Point3(2 * w_aZb.point3()), result.at<Point3>(1)));
EXPECT(assert_equal(Point3(0, 0, 0), result.at<Point3>(2)));
// Values initial = randomTranslations();
// LevenbergMarquardtOptimizer lm(graph, initial);
// Values actual = lm.optimize();
// double actualError = graph.error(actual);
// EXPECT_DOUBLES_EQUAL(0.0199833, actualError, 1e-5);
// TODO(frank): how to get stats back
// EXPECT_DOUBLES_EQUAL(0.0199833, actualError, 1e-5);
}
/* ************************************************************************* */