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

set pmin and pmax in unit test

release/4.3a0
John Lambert 2021-07-10 11:41:46 -04:00 committed by GitHub
parent db801f164d
commit aebb90573a
No known key found for this signature in database
GPG Key ID: 4AEE18F83AFDEB23
1 changed files with 3 additions and 2 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

5
python/gtsam/tests/test_ShonanAveraging.py
View File

@ -148,6 +148,7 @@ class TestShonanAveraging(GtsamTestCase):
def test_constructorBetweenFactorPose2s(self) -> None: def test_constructorBetweenFactorPose2s(self) -> None:
"""Check if ShonanAveraging2 constructor works when not initialized from g2o file.""" """Check if ShonanAveraging2 constructor works when not initialized from g2o file."""
num_images = 11
# map (i1,i2) pair to theta in degrees that parameterizes Rot2 object i2Ri1 # map (i1,i2) pair to theta in degrees that parameterizes Rot2 object i2Ri1
i2Ri1_dict = { i2Ri1_dict = {
(1, 2): -43.86342, (1, 2): -43.86342,
@ -192,9 +193,9 @@ class TestShonanAveraging(GtsamTestCase):
obj = ShonanAveraging2(between_factors, shonan_params) obj = ShonanAveraging2(between_factors, shonan_params)
initial = obj.initializeRandomly() initial = obj.initializeRandomly()
result_values, _ = obj.run(initial, p_min, self._p_max) result_values, _ = obj.run(initial, min_p=2, max_p=10)
for i in range(11): for i in range(num_images):
wRi = result_values.atRot2(i) wRi = result_values.atRot2(i)