mirror of
https://github.com/azaion/gps-denied-onboard.git
synced 2026-04-22 11:16:37 +00:00
Denys Zaitsev
26 lines
1.0 KiB
Python
26 lines
1.0 KiB
Python
import pytest
|
|
import numpy as np
|
|
from h03_robust_kernels import RobustKernels
|
|
|
|
@pytest.fixture
|
|
def kernels():
|
|
return RobustKernels()
|
|
|
|
class TestRobustKernels:
|
|
|
|
def test_huber_kernel_scalar(self, kernels):
|
|
# Inlier (r <= threshold): 0.5 * r^2
|
|
assert kernels.huber_loss(1.0, 2.0) == 0.5 * (1.0 ** 2)
|
|
assert kernels.compute_weight(1.0, "huber", {"threshold": 2.0}) == 1.0
|
|
|
|
# Outlier (r > threshold): threshold * (|r| - 0.5 * threshold)
|
|
assert kernels.huber_loss(3.0, 2.0) == 2.0 * (3.0 - 0.5 * 2.0)
|
|
assert kernels.compute_weight(3.0, "huber", {"threshold": 2.0}) == 2.0 / 3.0
|
|
|
|
def test_cauchy_kernel_scalar(self, kernels):
|
|
assert kernels.cauchy_loss(0.0, 1.0) == 0.0
|
|
assert np.isclose(kernels.cauchy_loss(1.0, 1.0), 0.5 * np.log(2.0))
|
|
|
|
assert kernels.compute_weight(0.0, "cauchy", {"k": 1.0}) == 1.0
|
|
assert kernels.compute_weight(1.0, "cauchy", {"k": 1.0}) == 0.5
|
|
assert kernels.compute_weight(3.0, "cauchy", {"k": 1.0}) == 0.1 |