45 lines
1.2 KiB
Python
45 lines
1.2 KiB
Python
"""
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GTSAM Copyright 2010-2019, Georgia Tech Research Corporation,
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Atlanta, Georgia 30332-0415
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All Rights Reserved
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See LICENSE for the license information
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Simple unit test for custom robust noise model.
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Author: Fan Jiang
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"""
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import unittest
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import numpy as np
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from gtsam.utils.test_case import GtsamTestCase
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import gtsam
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class TestRobust(GtsamTestCase):
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def test_RobustLossAndWeight(self):
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k = 10.0
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def custom_weight(e):
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abs_e = abs(e)
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return 1.0 if abs_e <= k else k / abs_e
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def custom_loss(e):
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abs_e = abs(e)
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return abs_e * abs_e / 2.0 if abs_e <= k else k * abs_e - k * k / 2.0
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custom_robust = gtsam.noiseModel.Robust.Create(
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gtsam.noiseModel.mEstimator.Custom(custom_weight, custom_loss,
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gtsam.noiseModel.mEstimator.Base.ReweightScheme.Scalar,
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"huber"),
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gtsam.noiseModel.Isotropic.Sigma(1, 2.0))
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f = gtsam.PriorFactorDouble(0, 1.0, custom_robust)
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v = gtsam.Values()
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v.insert(0, 0.0)
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self.assertAlmostEqual(f.error(v), 0.125)
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if __name__ == "__main__":
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unittest.main()
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