Merge pull request #963 from JuliaRobotics/test/4Q20/betterfluxmix

improve IIF testing

Author: dehann

test/testFluxModelsDistribution.jl

@@ -32,7 +32,6 @@ end
 
 
 
-
 @testset "FluxModelsDistribution serialization" begin
 
 
@@ -63,8 +62,80 @@ ff1.Z.shuffle[] = true
 
 solveTree!(fg_);
 
+# remove the testing file
+Base.rm("/tmp/fg_test_flux.tar.gz")
+
+end
+
+
+
+
+@testset "FluxModelsDistribution as Mixture with relative factor" begin
+
+
+mdls = [Chain(Dense(10,50, relu),Dense(50,20),softmax, Dense(20,1, tanh)) for i in 1:50];
+fxd = FluxModelsDistribution((10,),(1,),mdls,rand(10), false, false)
+
 
+fg = initfg()
+
+addVariable!(fg, :x0, ContinuousEuclid{1})
+addVariable!(fg, :x1, ContinuousEuclid{1})
+
+# a prior
+pr = Prior(Normal())
+addFactor!(fg, [:x0;], pr)
+
+# a relative mixture network
+mfx = Mixture(LinearRelative, (naive=Normal(10, 10), nn=fxd), [0.5;0.5])
+addFactor!(fg, [:x0;:x1], mfx)
+
+# and test overall serialization before solving
+saveDFG("/tmp/fg_test_flux", fg)
+
+# solve existing fg
+solveTree!(fg)
+
+# prior should pin x0 pretty well
+@test 80 < sum(-3 .< (getBelief(fg, :x0) |> getPoints) .< 3)
+# at least some points should land according to the naive model
+@test 5 < sum(5 .< (getBelief(fg, :x1) |> getPoints) .< 15)
+
+
+# will predict from existing fg
+f1 = getFactorType(fg, :x0x1f1)
+predictions = map(f->f(f1.components.nn.data), f1.components.nn.models)
+
+
+# unpack into new fg_
+fg_ = loadDFG("/tmp/fg_test_flux")
+
+# same predictions with deserialized object
+f1_ = getFactorType(fg_, :x0x1f1)
+predictions_ = map(f->f(f1_.components.nn.data), f1_.components.nn.models)
+
+# check that all predictions line up
+@show norm(predictions - predictions_)
+@test norm(predictions - predictions_) < 1e-6
+
+f1_.components.nn.shuffle[] = true
+
+# test solving of the new object
+solveTree!(fg_);
+
+
+# prior should pin x0 pretty well
+@test 80 < sum(-3 .< (getBelief(fg_, :x0) |> getPoints) .< 3)
+# at least some points should land according to the naive model
+@test 5 < sum(5 .< (getBelief(fg_, :x1) |> getPoints) .< 15)
+
+
+# remove the testing file
+Base.rm("/tmp/fg_test_flux.tar.gz")
 
 end
 
+
+
+
 #