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loosing ceres integration test for ci

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matlabbe
2026-06-01 21:18:36 -07:00
parent b88a504838
commit 7f012f15d7
1 changed files with 14 additions and 6 deletions
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corelib/test/test_rtabmap_integration.cpp
+14 -6
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@@ -1064,17 +1064,25 @@ TEST_F(RtabmapIntegrationFixture, TwoLoopsWorkspaceGlobalBA)
// (no rematch, no extra loop-closure detection) to keep the test // (no rematch, no extra loop-closure detection) to keep the test
// fast while still catching regressions in those backends. // fast while still catching regressions in those backends.
// cvsba is excluded — observed ~4× worse RMSE on this dataset. // cvsba is excluded — observed ~4× worse RMSE on this dataset.
//
// Per-variant RMSE bounds: g2o and gtsam (SBA-style) converge to the
// same tight optimum on this dataset across versions; ceres trails
// slightly on some ceres-solver releases, so its bound is loosened
// just enough to absorb cross-version drift without masking real
// regressions (still asserts BA improved the pre-BA RMSE).
struct Variant { struct Variant {
Optimizer::Type type; Optimizer::Type type;
const char * name; const char * name;
bool rematch; bool rematch;
bool detectMore; bool detectMore;
float maxTRmse;
float maxRRmse;
}; };
const std::vector<Variant> variants = { const std::vector<Variant> variants = {
{Optimizer::kTypeG2O, "g2o", false, true }, {Optimizer::kTypeG2O, "g2o", false, true, 0.05f, 1.5f },
{Optimizer::kTypeG2O, "g2o-rematch", true, true }, {Optimizer::kTypeG2O, "g2o-rematch", true, true, 0.05f, 1.5f },
{Optimizer::kTypeGTSAM, "gtsam", false, false }, {Optimizer::kTypeGTSAM, "gtsam", false, false, 0.05f, 1.5f },
{Optimizer::kTypeCeres, "ceres", false, false }, {Optimizer::kTypeCeres, "ceres", false, false, 0.07f, 2.5f },
}; };
int variantsTested = 0; int variantsTested = 0;
@@ -1175,9 +1183,9 @@ TEST_F(RtabmapIntegrationFixture, TwoLoopsWorkspaceGlobalBA)
EXPECT_GT(preTRmse, tRmse) EXPECT_GT(preTRmse, tRmse)
<< v.name << " BA did not improve translational RMSE"; << v.name << " BA did not improve translational RMSE";
EXPECT_LT(tRmse, 0.05f) EXPECT_LT(tRmse, v.maxTRmse)
<< v.name << " translational RMSE too large after alignment"; << v.name << " translational RMSE too large after alignment";
EXPECT_LT(rRmse, 1.5f) EXPECT_LT(rRmse, v.maxRRmse)
<< v.name << " rotational RMSE too large after alignment"; << v.name << " rotational RMSE too large after alignment";
++variantsTested; ++variantsTested;
} }