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fixing ci errors

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matlabbe
2026-05-17 16:58:30 -07:00
parent 77fb48a5af
commit 3cc21c636f
3 changed files with 7 additions and 4 deletions
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corelib/include/rtabmap/core/IMU.h
+2 -1
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@@ -28,6 +28,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#ifndef IMU_H_ #ifndef IMU_H_
#define IMU_H_ #define IMU_H_
#include "rtabmap/core/rtabmap_core_export.h" // DLL export/import defines
#include <opencv2/core/core.hpp> #include <opencv2/core/core.hpp>
#include <rtabmap/utilite/UEvent.h> #include <rtabmap/utilite/UEvent.h>
#include <rtabmap/core/Transform.h> #include <rtabmap/core/Transform.h>
@@ -52,7 +53,7 @@ namespace rtabmap {
* @see SensorData::imu() * @see SensorData::imu()
* @see IMUEvent * @see IMUEvent
*/ */
class IMU class RTABMAP_CORE_EXPORT IMU
{ {
public: public:
/** @brief Default-constructs an empty sample (null @ref localTransform()). */ /** @brief Default-constructs an empty sample (null @ref localTransform()). */
corelib/test/test_sensorcapture.cpp
+3 -3
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@@ -299,9 +299,9 @@ TEST(SensorCaptureTest, TakeDataWithFrameRateThrottling)
SensorData data2 = sensor.takeData(); SensorData data2 = sensor.takeData();
double elapsed = timer.ticks(); double elapsed = timer.ticks();
// With 10 Hz throttling, two captures should take at least ~100ms // With 10 Hz throttling, two captures should wait ~100 ms each (~200 ms total).
EXPECT_GE(elapsed, 0.2); // Should be at least 200 ms for two frames EXPECT_GE(elapsed, 0.19);
EXPECT_LE(elapsed, 0.21); // Slight margin EXPECT_LE(elapsed, 0.5); // allow scheduler jitter on loaded CI runners (e.g. macOS)
EXPECT_TRUE(data1.isValid()); EXPECT_TRUE(data1.isValid());
EXPECT_TRUE(data2.isValid()); EXPECT_TRUE(data2.isValid());
} }
corelib/test/test_util3d_motion_estimation.cpp
+2
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@@ -159,6 +159,7 @@ TEST(Util3dMotionEstimationTest, EstimateMotion3DTo2DBasic) {
// Same test than above, but with added noise on the points and pixels // Same test than above, but with added noise on the points and pixels
TEST(Util3dMotionEstimationTest, EstimateMotion3DTo2DWithNoise) { TEST(Util3dMotionEstimationTest, EstimateMotion3DTo2DWithNoise) {
srand(0); // fixed seed: rand() noise must be reproducible across CI platforms
// Two triangles in front of the camera at two different depths, centered with the middle of the image frame // Two triangles in front of the camera at two different depths, centered with the middle of the image frame
std::map<int, cv::Point3f> words3A = { std::map<int, cv::Point3f> words3A = {
@@ -532,6 +533,7 @@ TEST(Util3dMotionEstimationTest, EstimateMotion3DTo3DBasic) {
// Same as above but with noise // Same as above but with noise
TEST(Util3dMotionEstimationTest, EstimateMotion3DTo3DWithNoise) { TEST(Util3dMotionEstimationTest, EstimateMotion3DTo3DWithNoise) {
srand(0); // fixed seed: rand() noise must be reproducible across CI platforms
// Three triangles in front of the camera at three different depths, centered with the middle of the image frame // Three triangles in front of the camera at three different depths, centered with the middle of the image frame
std::map<int, cv::Point3f> words3A = { std::map<int, cv::Point3f> words3A = {