Skip to content

Latest commit

 

History

History
21 lines (14 loc) · 772 Bytes

TESTING.md

File metadata and controls

21 lines (14 loc) · 772 Bytes
Raw

Testing the code

TODO: Notes on testGtsamIncremental

Testing marginalization

To test the functional correctness of an implementation of marginalization, run the following.

cd gtsam
cd build && make -j$(nproc) testMarginalize
~/gtsam/gtsam/nonlinear/swap_ISAM2.sh [--old | --new]
./timing/testMarginalize -f <dataset> --marginalize_test_inputs <marginalize input file path> --num_steps <num_steps> --print_frequency <print_frequency> [--old | --new]

Where marginalize input file path is the full path to the marginalize inputs file generated by generate_random_removes_marginalize.py. See python/experiments/README.md

When swapping in old or new versions of ISAM2, please also set the flag --old or --new.