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Merge pull request #1625 from borglab/fix/tests-i686-thresholds 

relax unit test thresholds to fix 32bit issues
release/4.3a0
Varun Agrawal 2023-09-08 06:38:37 -04:00 committed by GitHub
parent 9cdf9cee11 d2e4dff214
commit 271b9f3f23
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GPG Key ID: 4AEE18F83AFDEB23
1 changed files with 16 additions and 9 deletions
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25
gtsam/geometry/tests/testSphericalCamera.cpp
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@ -24,6 +24,13 @@
#include <cmath>
#include <iostream>
#if defined(__i686__) || defined(__i386__)
// See issue discussion: https://github.com/borglab/gtsam/issues/1605
constexpr double TEST_THRESHOLD = 1e-5;
#else
constexpr double TEST_THRESHOLD = 1e-7;
#endif
using namespace std::placeholders;
using namespace std;
using namespace gtsam;
@ -104,8 +111,8 @@ TEST(SphericalCamera, Dproject) {
Matrix numerical_pose = numericalDerivative21(project3, pose, point1);
Matrix numerical_point = numericalDerivative22(project3, pose, point1);
EXPECT(assert_equal(bearing1, result));
EXPECT(assert_equal(numerical_pose, Dpose, 1e-7));
EXPECT(assert_equal(numerical_point, Dpoint, 1e-7));
EXPECT(assert_equal(numerical_pose, Dpose, TEST_THRESHOLD));
EXPECT(assert_equal(numerical_point, Dpoint, TEST_THRESHOLD));
}
/* ************************************************************************* */
@ -123,8 +130,8 @@ TEST(SphericalCamera, reprojectionError) {
Matrix numerical_point =
numericalDerivative32(reprojectionError2, pose, point1, bearing1);
EXPECT(assert_equal(Vector2(0.0, 0.0), result));
EXPECT(assert_equal(numerical_pose, Dpose, 1e-7));
EXPECT(assert_equal(numerical_point, Dpoint, 1e-7));
EXPECT(assert_equal(numerical_pose, Dpose, TEST_THRESHOLD));
EXPECT(assert_equal(numerical_point, Dpoint, TEST_THRESHOLD));
}
/* ************************************************************************* */
@ -137,9 +144,9 @@ TEST(SphericalCamera, reprojectionError_noisy) {
numericalDerivative31(reprojectionError2, pose, point1, bearing_noisy);
Matrix numerical_point =
numericalDerivative32(reprojectionError2, pose, point1, bearing_noisy);
EXPECT(assert_equal(Vector2(-0.050282, 0.00833482), result, 1e-5));
EXPECT(assert_equal(numerical_pose, Dpose, 1e-7));
EXPECT(assert_equal(numerical_point, Dpoint, 1e-7));
EXPECT(assert_equal(Vector2(-0.050282, 0.00833482), result, 1e2*TEST_THRESHOLD));
EXPECT(assert_equal(numerical_pose, Dpose, TEST_THRESHOLD));
EXPECT(assert_equal(numerical_point, Dpoint, TEST_THRESHOLD));
}
/* ************************************************************************* */
@ -151,8 +158,8 @@ TEST(SphericalCamera, Dproject2) {
camera.project2(point1, Dpose, Dpoint);
Matrix numerical_pose = numericalDerivative21(project3, pose1, point1);
Matrix numerical_point = numericalDerivative22(project3, pose1, point1);
CHECK(assert_equal(numerical_pose, Dpose, 1e-7));
CHECK(assert_equal(numerical_point, Dpoint, 1e-7));
CHECK(assert_equal(numerical_pose, Dpose, TEST_THRESHOLD));
CHECK(assert_equal(numerical_point, Dpoint, TEST_THRESHOLD));
}
/* ************************************************************************* */