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fixed some macos flakiness

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matlabbe
2026-05-28 21:27:05 -07:00
parent 10a3949b6a
commit 8551e69f4f
2 changed files with 18 additions and 10 deletions
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corelib/test/test_rtabmap_integration.cpp
+3 -2
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@@ -643,11 +643,12 @@ TEST_F(RtabmapIntegrationFixture, PR2_Scan2D_RGBD)
EXPECT_EQ(21, result.finalGlobalGraphSize);
EXPECT_GE(result.proximityDetections, 1)
<< "PR2 2D-scan dataset should produce proximity detections";
// Observed across 5 runs: empty 2900-3001, obstacle 4574-4698.
// Observed: empty 2863-3001, obstacle 4574-4937. Wide bounds absorb
// platform-level FP differences in the visual loop-closure path.
EXPECT_GE(result.gridEmptyCells, 2700);
EXPECT_LE(result.gridEmptyCells, 3200);
EXPECT_GE(result.gridObstacleCells, 4400);
EXPECT_LE(result.gridObstacleCells, 4900);
EXPECT_LE(result.gridObstacleCells, 5100);
#ifdef RTABMAP_OCTOMAP
// Observed: empty 6072-8037, obstacle 39924-42883. Bounds are wide
// because without g2o (OdomF2M/BundleAdjustment disabled) visual