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Test Point2Point2Range as in RoME #1617

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Merged
merged 2 commits into from
Aug 29, 2022
Merged

Test Point2Point2Range as in RoME #1617

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f9dd2ed
Test Point2Point2Range as in RoME
Affie Aug 29, 2022
5c1b6db
Potential fix test
Affie Aug 29, 2022
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4 changes: 2 additions & 2 deletions src/services/EvalFactor.jl
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Original file line number Diff line number Diff line change
Expand Up @@ -182,13 +182,13 @@ function computeAcrossHypothesis!(ccwl::Union{<:CommonConvWrapper{F},
for i in 1:Threads.nthreads() ccwl.cpt[i].activehypo = vars; end

addEntr = view(ccwl.params[sfidx], allelements[count])
# dynamic estimate with user requested speadNH of how much noise to inject (inflation or nullhypo)
spreadDist = calcVariableDistanceExpectedFractional(ccwl, sfidx, certainidx, kappa=ccwl.inflation)

# do proposal inflation step, see #1051
# consider duplicate convolution approximations for inflation off-zero
# ultimately set by dfg.params.inflateCycles
for iflc in 1:inflateCycles
# dynamic estimate with user requested speadNH of how much noise to inject (inflation or nullhypo)
spreadDist = calcVariableDistanceExpectedFractional(ccwl, sfidx, certainidx, kappa=ccwl.inflation)
addEntropyOnManifold!(mani, addEntr, 1:getDimension(mani), spreadDist, ccwl.partialDims)
# no calculate new proposal belief on kernels `allelements[count]`
_checkErrorCCWNumerics(ccwl, testshuffle)
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27 changes: 27 additions & 0 deletions test/testEuclidDistance.jl
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Expand Up @@ -136,6 +136,33 @@ end
# at least one of the 3 solves should produce the right result


##
#test one clique as in RoME
N=100
points = [[100.0;0.0],[0.0;100.0]]
fg = IIF.generateGraph_EuclidDistance(points)
fg.solverParams.graphinit = false

M = getManifold(fg, :l1)
TP = false
for i in 1:3
# global TP, N
tree = solveTree!(fg);

L1 = getBelief(fg, :l1) |> getPoints

# check that two modes exist
am1 = sum(isapprox.(Ref(M), L1, Ref([0.0,0.0]), atol=10))
am2 = sum(isapprox.(Ref(M), L1, Ref([100.0,100.0]), atol=10))

TP = am1 > N*0.03
TP &= am2 > N*0.03
if TP
@info "test passed in $i"
break
end
end
@test TP
##

end
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