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matlabbe
2026-06-05 20:57:42 -07:00
parent 9515bbda0c
commit 1ec535473f
3 changed files with 14 additions and 4 deletions
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corelib/test/test_optimizer.cpp
+2 -2
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@@ -1427,8 +1427,8 @@ TEST_P(LandmarkCovarianceTest, LandmarkCovarianceAffectsConvergence)
{
const bool isG2O = (backend == Optimizer::kTypeG2O);
landmarkDistMax = isG2O ? 0.15f : 0.05f; // g2o has no bearing-purity advantage
poseDistMax = g2o6DoF ? 0.15f : 0.06f;
poseAngMaxDeg = g2o6DoF ? 1.0f : 0.35f;
poseDistMax = isG2O ? 0.20f : 0.06f;
poseAngMaxDeg = isG2O ? 1.0f : 0.35f;
}
else if(noisy)
{
corelib/test/test_registrationvis.cpp
+6 -1
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@@ -200,11 +200,16 @@ static Transform computeRegistrationRobust(
RegistrationInfo * infoOut = nullptr)
{
const int estimationType = std::atoi(params.at(Parameters::kVisEstimationType()).c_str());
const int maxAttempts = estimationType == 2 ? 20 : 1;
const int maxAttempts = estimationType == 2 ? 50 : 1;
Transform result;
RegistrationInfo info;
for(int attempt = 0; attempt < maxAttempts; ++attempt)
{
if(estimationType == 2)
{
cv::theRNG() = cv::RNG(static_cast<uint64_t>(0x9e3779b97f4a7c15ULL) ^
static_cast<uint64_t>(attempt + 1));
}
result = computeRegistration(fromData, toData, params, &info);
if(!result.isNull() || estimationType != 2)
{
corelib/test/test_rtabmap_integration.cpp
+6 -1
View File
@@ -2008,7 +2008,12 @@ TEST_F(RtabmapIntegrationFixture, AppearanceOnly_PrecisionRecall)
<< ", FP=" << acceptedFp << ")\n";
}
const float recallFloor = (detectorType == defaultDetector) ? 0.5f : 0.9f;
const bool isGfttBased =
detectorType == Feature2D::kFeatureGfttFreak ||
detectorType == Feature2D::kFeatureGfttBrief ||
detectorType == Feature2D::kFeatureGfttOrb ||
detectorType == Feature2D::kFeatureGfttDaisy;
const float recallFloor = isGfttBased ? 0.5f : 0.9f;
EXPECT_GE(recallAt100p, recallFloor)
<< detectorLabel << " recall@100%P=" << recallAt100p
<< " is below " << recallFloor