i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-10-06 01:57:45 +08:00
Code Issues Packages Projects Releases Wiki Activity

fixing multi platform flakiness

Browse Source
This commit is contained in:
matlabbe
2026-05-28 20:29:02 -07:00
parent 1ce10ef6e7
commit 10403d4a34
5 changed files with 75 additions and 27 deletions
Download Patch File Download Diff File Expand all files Collapse all files
corelib/test/test_rtabmap.cpp
+21 -6
View File
@@ -2142,14 +2142,23 @@ TEST(RtabmapTest, ProcessRejectsBadLoopClosureWhenMaxErrorExceeded)
ASSERT_TRUE(rtabmap.process(makeFeaturesData(10, /*featSlot=*/kMatchSlot), Transform(9.0f, 0, 0, 0, 0, 0), cov));
// Verify the rejection specifically came from the OptimizeMaxError path:
// the kLoopOptimization_max_error_ratio statistic reflects the max-error
// edge ratio measured by the optimizer. It exists only when the optimizer
// ran AND found a high error -- if the rejection had been earlier (e.g.,
// failed registration), this stat would not be populated above the gate.
// kLoopOptimization_max_error_ratio (linear) and ..._max_ang_error_ratio
// (angular) reflect the per-edge residuals after optimization. The gate
// rejects if EITHER exceeds kRGBDOptimizeMaxError, so the test asserts
// at least one fired. g2o/GTSAM/Ceres on this graph can satisfy the bad
// loop closure by rotating the chain edges (each chain edge still has
// ~1m translation in its local frame even when the chain curls back to
// N4) -- the linear residuals stay tight but the angular residuals
// explode. TORO's gradient solver leaves the linear residual exposed
// instead. Either path is a valid rejection.
const auto & stats = rtabmap.getStatistics().data();
auto itRatio = stats.find(Statistics::kLoopOptimization_max_error_ratio());
auto itAngRatio = stats.find(Statistics::kLoopOptimization_max_ang_error_ratio());
ASSERT_NE(itRatio, stats.end());
EXPECT_GT(itRatio->second, 1.0f) << "optimizer max-error ratio must exceed kRGBDOptimizeMaxError";
ASSERT_NE(itAngRatio, stats.end());
EXPECT_TRUE(itRatio->second > 1.0f || itAngRatio->second > 1.0f)
<< "linear or angular max-error ratio must exceed kRGBDOptimizeMaxError"
<< " (linear=" << itRatio->second << ", angular=" << itAngRatio->second << ")";
auto itRej = stats.find(Statistics::kLoopRejectedHypothesis());
ASSERT_NE(itRej, stats.end());
EXPECT_FLOAT_EQ(itRej->second, 1.0f);
@@ -2249,10 +2258,16 @@ TEST(RtabmapTest, ProcessRejectsBadLoopClosureInLocalizationModeViaOptimizeMaxEr
// odom-cache chain and the proposed loop edge -> rejected.
ASSERT_TRUE(rtabmap.process(makeFeaturesData(20, /*featSlot=*/kMatchSlot), Transform(12.0f, 0, 0, 0, 0, 0), cov));
// Either linear or angular ratio can trigger rejection (see comment
// on ProcessRejectsBadLoopClosureWhenMaxErrorExceeded).
const auto & stats = rtabmap.getStatistics().data();
auto itRatio = stats.find(Statistics::kLoopOptimization_max_error_ratio());
auto itAngRatio = stats.find(Statistics::kLoopOptimization_max_ang_error_ratio());
ASSERT_NE(itRatio, stats.end());
EXPECT_GT(itRatio->second, 1.0f) << "optimizer max-error ratio must exceed kRGBDOptimizeMaxError";
ASSERT_NE(itAngRatio, stats.end());
EXPECT_TRUE(itRatio->second > 1.0f || itAngRatio->second > 1.0f)
<< "linear or angular max-error ratio must exceed kRGBDOptimizeMaxError"
<< " (linear=" << itRatio->second << ", angular=" << itAngRatio->second << ")";
auto itRej = stats.find(Statistics::kLoopRejectedHypothesis());
ASSERT_NE(itRej, stats.end());
EXPECT_FLOAT_EQ(itRej->second, 1.0f);