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Removed timing, added new SUMMARY stats on failing tests

release/4.3a0
dellaert 2015-03-09 18:00:47 -07:00
parent 0f198dc1d6
commit 1eec6748cb
1 changed files with 5 additions and 20 deletions
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25
gtsam/slam/tests/testSmartProjectionPoseFactor.cpp
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@ -54,8 +54,7 @@ typedef SmartProjectionPoseFactor<Cal3Bundler> SmartFactorBundler;
LevenbergMarquardtParams params;
// Make more verbose like so (in tests):
// params.verbosityLM = LevenbergMarquardtParams::TRYDELTA;
// params.verbosity = NonlinearOptimizerParams::ERROR;
// params.verbosityLM = LevenbergMarquardtParams::SUMMARY;
/* ************************************************************************* */
TEST( SmartProjectionPoseFactor, Constructor) {
@ -244,11 +243,9 @@ TEST( SmartProjectionPoseFactor, 3poses_smart_projection_factor ) {
Point3(0.1, -0.1, 1.9)), values.at<Camera>(x3).pose()));
Values result;
gttic_(SmartProjectionPoseFactor);
params.verbosityLM = LevenbergMarquardtParams::SUMMARY;
LevenbergMarquardtOptimizer optimizer(graph, values, params);
result = optimizer.optimize();
gttoc_(SmartProjectionPoseFactor);
tictoc_finishedIteration_();
// GaussianFactorGraph::shared_ptr GFG = graph.linearize(values);
// VectorValues delta = GFG->optimize();
@ -456,11 +453,9 @@ TEST( SmartProjectionPoseFactor, 3poses_iterative_smart_projection_factor ) {
values.at<Camera>(x3).pose()));
Values result;
gttic_(SmartProjectionPoseFactor);
params.verbosityLM = LevenbergMarquardtParams::SUMMARY;
LevenbergMarquardtOptimizer optimizer(graph, values, params);
result = optimizer.optimize();
gttoc_(SmartProjectionPoseFactor);
tictoc_finishedIteration_();
// result.print("results of 3 camera, 3 landmark optimization \n");
EXPECT(assert_equal(pose_above, result.at<Camera>(x3).pose(), 1e-7));
@ -513,6 +508,7 @@ TEST( SmartProjectionPoseFactor, jacobianSVD ) {
values.insert(x3, Camera(pose_above * noise_pose, sharedK));
Values result;
params.verbosityLM = LevenbergMarquardtParams::SUMMARY;
LevenbergMarquardtOptimizer optimizer(graph, values, params);
result = optimizer.optimize();
EXPECT(assert_equal(pose_above, result.at<Camera>(x3).pose(), 1e-8));
@ -900,11 +896,8 @@ TEST( SmartProjectionPoseFactor, 3poses_2land_rotation_only_smart_projection_fac
values.at<Camera>(x3).pose()));
Values result;
gttic_(SmartProjectionPoseFactor);
LevenbergMarquardtOptimizer optimizer(graph, values, params);
result = optimizer.optimize();
gttoc_(SmartProjectionPoseFactor);
tictoc_finishedIteration_();
EXPECT(
assert_equal(
@ -988,11 +981,8 @@ TEST( SmartProjectionPoseFactor, 3poses_rotation_only_smart_projection_factor )
values.at<Camera>(x3).pose()));
Values result;
gttic_(SmartProjectionPoseFactor);
LevenbergMarquardtOptimizer optimizer(graph, values, params);
result = optimizer.optimize();
gttoc_(SmartProjectionPoseFactor);
tictoc_finishedIteration_();
EXPECT(
assert_equal(
@ -1211,11 +1201,9 @@ TEST( SmartProjectionPoseFactor, Cal3Bundler ) {
Point3(0.1, -0.1, 1.9)), values.at<Camera>(x3).pose()));
Values result;
gttic_(SmartProjectionPoseFactor);
params.verbosityLM = LevenbergMarquardtParams::SUMMARY;
LevenbergMarquardtOptimizer optimizer(graph, values, params);
result = optimizer.optimize();
gttoc_(SmartProjectionPoseFactor);
tictoc_finishedIteration_();
EXPECT(assert_equal(cam3, result.at<Camera>(x3), 1e-6));
}
@ -1294,11 +1282,8 @@ TEST( SmartProjectionPoseFactor, Cal3BundlerRotationOnly ) {
values.at<Camera>(x3).pose()));
Values result;
gttic_(SmartProjectionPoseFactor);
LevenbergMarquardtOptimizer optimizer(graph, values, params);
result = optimizer.optimize();
gttoc_(SmartProjectionPoseFactor);
tictoc_finishedIteration_();
EXPECT(
assert_equal(