Added test for subgraph preconditioner in shonan and refined error message #611
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@jingwuOUO can you please run |
gtsam/linear/SubgraphBuilder.cpp
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| @@ -383,7 +383,7 @@ Subgraph SubgraphBuilder::operator()(const GaussianFactorGraph &gfg) const { | |||
| const vector<size_t> tree = buildTree(gfg, forward_ordering, weights); | |||
| if (tree.size() != n - 1) { | |||
| throw std::runtime_error( | |||
| "SubgraphBuilder::operator() failure: tree.size() != n-1"); | |||
| "SubgraphBuilder::operator() failure: tree.size() != n-1, might caused by disconnected graph"); | |||
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"Might be caused by disconnected graph"?
| gtsam::LevenbergMarquardtParams::CeresDefaults(), "SUBGRAPH"); | ||
| ShonanAveraging3::Measurements measurements; | ||
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| auto subgraphShonan = fromExampleName("toyExample.g2o", params); |
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could be helpful to add a small comment explaining what is inside the toyExample.g2o file? i.e. what is it's structure? Is this test designed to make sure a disconnected graph is caught, or instead to operate on just the largest tree in the forest if disconnected?
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Good advice! The test data is a fully connected graph. Currently Shonan in gtsam doesn't deal with disconnected graph, this is only a simple test case to check whether the subgraph option works. Once I added the part handling the disconnected graph, I will add more test cases.
jingwuOUO
changed the title
Added test for subgraph preconditioner in shonan and refined the error message