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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_rtabmap_integration.cpp
+6 -1
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@@ -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