Unit tests for GncOptimizer class. More...
#include <CppUnitLite/TestHarness.h>#include <gtsam/nonlinear/GncOptimizer.h>#include <gtsam/nonlinear/LinearContainerFactor.h>#include <gtsam/slam/dataset.h>#include <tests/smallExample.h>#include <gtsam/sam/BearingFactor.h>#include <gtsam/geometry/Pose2.h>
Go to the source code of this file.
Functions | |
| int | main () |
| TEST (GncOptimizer, gncParamsConstructor) | |
| TEST (GncOptimizer, gncConstructor) | |
| TEST (GncOptimizer, solverParameterParsing) | |
| TEST (GncOptimizer, gncConstructorWithRobustGraphAsInput) | |
| TEST (GncOptimizer, initializeMu) | |
| TEST (GncOptimizer, updateMuGM) | |
| TEST (GncOptimizer, updateMuTLS) | |
| TEST (GncOptimizer, checkMuConvergence) | |
| TEST (GncOptimizer, checkCostConvergence) | |
| TEST (GncOptimizer, checkWeightsConvergence) | |
| TEST (GncOptimizer, checkConvergenceTLS) | |
| TEST (GncOptimizer, calculateWeightsGM) | |
| TEST (GncOptimizer, calculateWeightsTLS) | |
| TEST (GncOptimizer, calculateWeightsTLS2) | |
| TEST (GncOptimizer, makeWeightedGraph) | |
| TEST (GncOptimizer, optimizeSimple) | |
| TEST (GncOptimizer, optimize) | |
| TEST (GncOptimizer, optimizeWithKnownInliers) | |
| TEST (GncOptimizer, chi2inv) | |
| TEST (GncOptimizer, barcsq) | |
| TEST (GncOptimizer, barcsq_heterogeneousFactors) | |
| TEST (GncOptimizer, setInlierCostThresholds) | |
| TEST (GncOptimizer, optimizeSmallPoseGraph) | |
| TEST (GncOptimizer, knownInliersAndOutliers) | |
| TEST (GncOptimizer, setWeights) | |
Variables | |
| static double | tol = 1e-7 |
Detailed Description
Unit tests for GncOptimizer class.
Implementation of the paper: Yang, Antonante, Tzoumas, Carlone, "Graduated Non-Convexity for Robust Spatial Perception: From Non-Minimal Solvers to Global Outlier Rejection", ICRA/RAL, 2020. (arxiv version: https://arxiv.org/pdf/1909.08605.pdf)
See also: Antonante, Tzoumas, Yang, Carlone, "Outlier-Robust Estimation: Hardness, Minimally-Tuned Algorithms, and Applications", arxiv: https://arxiv.org/pdf/2007.15109.pdf, 2020.
Definition in file testGncOptimizer.cpp.
Function Documentation
◆ main()
| int main | ( | void | ) |
Definition at line 946 of file testGncOptimizer.cpp.
◆ TEST() [1/25]
| TEST | ( | GncOptimizer | , |
| gncParamsConstructor | |||
| ) |
Definition at line 47 of file testGncOptimizer.cpp.
◆ TEST() [2/25]
| TEST | ( | GncOptimizer | , |
| gncConstructor | |||
| ) |
Definition at line 77 of file testGncOptimizer.cpp.
◆ TEST() [3/25]
| TEST | ( | GncOptimizer | , |
| solverParameterParsing | |||
| ) |
Definition at line 102 of file testGncOptimizer.cpp.
◆ TEST() [4/25]
| TEST | ( | GncOptimizer | , |
| gncConstructorWithRobustGraphAsInput | |||
| ) |
Definition at line 126 of file testGncOptimizer.cpp.
◆ TEST() [5/25]
| TEST | ( | GncOptimizer | , |
| initializeMu | |||
| ) |
Definition at line 146 of file testGncOptimizer.cpp.
◆ TEST() [6/25]
| TEST | ( | GncOptimizer | , |
| updateMuGM | |||
| ) |
Definition at line 174 of file testGncOptimizer.cpp.
◆ TEST() [7/25]
| TEST | ( | GncOptimizer | , |
| updateMuTLS | |||
| ) |
Definition at line 197 of file testGncOptimizer.cpp.
◆ TEST() [8/25]
| TEST | ( | GncOptimizer | , |
| checkMuConvergence | |||
| ) |
Definition at line 216 of file testGncOptimizer.cpp.
◆ TEST() [9/25]
| TEST | ( | GncOptimizer | , |
| checkCostConvergence | |||
| ) |
Definition at line 246 of file testGncOptimizer.cpp.
◆ TEST() [10/25]
| TEST | ( | GncOptimizer | , |
| checkWeightsConvergence | |||
| ) |
Definition at line 279 of file testGncOptimizer.cpp.
◆ TEST() [11/25]
| TEST | ( | GncOptimizer | , |
| checkConvergenceTLS | |||
| ) |
Definition at line 333 of file testGncOptimizer.cpp.
◆ TEST() [12/25]
| TEST | ( | GncOptimizer | , |
| calculateWeightsGM | |||
| ) |
Definition at line 352 of file testGncOptimizer.cpp.
◆ TEST() [13/25]
| TEST | ( | GncOptimizer | , |
| calculateWeightsTLS | |||
| ) |
Definition at line 388 of file testGncOptimizer.cpp.
◆ TEST() [14/25]
| TEST | ( | GncOptimizer | , |
| calculateWeightsTLS2 | |||
| ) |
Definition at line 412 of file testGncOptimizer.cpp.
◆ TEST() [15/25]
| TEST | ( | GncOptimizer | , |
| makeWeightedGraph | |||
| ) |
Definition at line 481 of file testGncOptimizer.cpp.
◆ TEST() [16/25]
| TEST | ( | GncOptimizer | , |
| optimizeSimple | |||
| ) |
Definition at line 512 of file testGncOptimizer.cpp.
◆ TEST() [17/25]
| TEST | ( | GncOptimizer | , |
| optimize | |||
| ) |
Definition at line 529 of file testGncOptimizer.cpp.
◆ TEST() [18/25]
| TEST | ( | GncOptimizer | , |
| optimizeWithKnownInliers | |||
| ) |
Definition at line 563 of file testGncOptimizer.cpp.
◆ TEST() [19/25]
| TEST | ( | GncOptimizer | , |
| chi2inv | |||
| ) |
Definition at line 634 of file testGncOptimizer.cpp.
◆ TEST() [20/25]
| TEST | ( | GncOptimizer | , |
| barcsq | |||
| ) |
Definition at line 640 of file testGncOptimizer.cpp.
◆ TEST() [21/25]
| TEST | ( | GncOptimizer | , |
| barcsq_heterogeneousFactors | |||
| ) |
Definition at line 663 of file testGncOptimizer.cpp.
◆ TEST() [22/25]
| TEST | ( | GncOptimizer | , |
| setInlierCostThresholds | |||
| ) |
Definition at line 687 of file testGncOptimizer.cpp.
◆ TEST() [23/25]
| TEST | ( | GncOptimizer | , |
| optimizeSmallPoseGraph | |||
| ) |
load small pose graph
get expected values by optimizing outlier-free graph
get expected values by optimizing outlier-free graph
Definition at line 737 of file testGncOptimizer.cpp.
◆ TEST() [24/25]
| TEST | ( | GncOptimizer | , |
| knownInliersAndOutliers | |||
| ) |
Definition at line 775 of file testGncOptimizer.cpp.
◆ TEST() [25/25]
| TEST | ( | GncOptimizer | , |
| setWeights | |||
| ) |
Definition at line 865 of file testGncOptimizer.cpp.
Variable Documentation
◆ tol
|
static |
Definition at line 44 of file testGncOptimizer.cpp.