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

Don't throw error for Kappa and test parameter print

release/4.3a0
Varun Agrawal 2020-11-30 18:21:36 -05:00
parent bf93527ffc
commit a00d37005b
2 changed files with 7 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

1
gtsam/sfm/ShonanAveraging.cpp
View File

@ -346,6 +346,7 @@ static double Kappa(const BinaryMeasurement<T> &measurement) {
std::cout << "Verification of optimality does not work with robust cost " std::cout << "Verification of optimality does not work with robust cost "
"function" "function"
<< std::endl; << std::endl;
sigma = 1; // setting arbitrary value
} else { } else {
throw std::invalid_argument( throw std::invalid_argument(
"Shonan averaging noise models must be isotropic (but robust losses " "Shonan averaging noise models must be isotropic (but robust losses "

7
gtsam/sfm/tests/testShonanAveraging.cpp
View File

@ -17,6 +17,7 @@
*/ */
#include <CppUnitLite/TestHarness.h> #include <CppUnitLite/TestHarness.h>
#include <gtsam/base/TestableAssertions.h>
#include <gtsam/sfm/ShonanAveraging.h> #include <gtsam/sfm/ShonanAveraging.h>
#include <gtsam/slam/BetweenFactor.h> #include <gtsam/slam/BetweenFactor.h>
#include <gtsam/slam/FrobeniusFactor.h> #include <gtsam/slam/FrobeniusFactor.h>
@ -329,7 +330,11 @@ TEST(ShonanAveraging2, noisyToyGraphWithHuber) {
ShonanAveraging2::Parameters parameters(lmParams); ShonanAveraging2::Parameters parameters(lmParams);
auto measurements = parseMeasurements<Rot2>(g2oFile); auto measurements = parseMeasurements<Rot2>(g2oFile);
parameters.setUseHuber(true); parameters.setUseHuber(true);
parameters.print(); string parameters_print =
" ShonanAveragingParameters: \n alpha: 0\n beta: 1\n gamma: 0\n "
"useHuber: 1\n";
assert_print_equal(parameters_print, parameters);
ShonanAveraging2 shonan(measurements, parameters); ShonanAveraging2 shonan(measurements, parameters);
EXPECT_LONGS_EQUAL(4, shonan.nrUnknowns()); EXPECT_LONGS_EQUAL(4, shonan.nrUnknowns());