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fix test

release/4.3a0
jingnanshi 2020-12-22 21:08:42 -05:00
parent be5d3d2343
commit c57174436f
1 changed files with 4 additions and 3 deletions
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7
tests/testGncOptimizer.cpp
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@ -206,7 +206,7 @@ TEST(GncOptimizer, checkMuConvergenceGM) {
} }
/* ************************************************************************* */ /* ************************************************************************* */
TEST(GncOptimizer, checkMuConvergenceTLS) { TEST(GncOptimizer, checkConvergenceTLS) {
// has to have Gaussian noise models ! // has to have Gaussian noise models !
auto fg = example::createReallyNonlinearFactorGraph(); auto fg = example::createReallyNonlinearFactorGraph();
@ -216,13 +216,14 @@ TEST(GncOptimizer, checkMuConvergenceTLS) {
LevenbergMarquardtParams lmParams; LevenbergMarquardtParams lmParams;
GncParams<LevenbergMarquardtParams> gncParams(lmParams); GncParams<LevenbergMarquardtParams> gncParams(lmParams);
gncParams.setRelativeCostTol(1e-5);
gncParams.setLossType( gncParams.setLossType(
GncParams<LevenbergMarquardtParams>::RobustLossType::TLS); GncParams<LevenbergMarquardtParams>::RobustLossType::TLS);
auto gnc = auto gnc =
GncOptimizer<GncParams<LevenbergMarquardtParams>>(fg, initial, gncParams); GncOptimizer<GncParams<LevenbergMarquardtParams>>(fg, initial, gncParams);
double mu = 1.0; CHECK(gnc.checkCostConvergence(1.0, 1.0));
CHECK(gnc.checkMuConvergence(mu)); CHECK(!gnc.checkCostConvergence(1.0, 2.0));
} }
/* ************************************************************************* */ /* ************************************************************************* */