flakiness

corelib/test/test_imuthread.cpp

@@ -10,7 +10,12 @@
 #include <rtabmap/utilite/UTimer.h>
 #include <fstream>
 #include <cmath>
+#ifdef _WIN32
+#include <process.h>
+#define getpid _getpid
+#else
 #include <unistd.h>
+#endif
 #include <vector>
 
 using namespace rtabmap;

corelib/test/test_laswriter.cpp

@@ -3,7 +3,12 @@
 #include <rtabmap/utilite/UFile.h>
 #include <rtabmap/utilite/UConversion.h>
 #include <fstream>
+#ifdef _WIN32
+#include <process.h>
+#define getpid _getpid
+#else
 #include <unistd.h>
+#endif
 
 #ifdef RTABMAP_LIBLAS
 #include <rtabmap/core/LASWriter.h>

corelib/test/test_pydescriptor.cpp

@@ -25,7 +25,12 @@
 #include <fstream>
 #include <memory>
 #include <string>
+#ifdef _WIN32
+#include <process.h>
+#define getpid _getpid
+#else
 #include <unistd.h>
+#endif
 
 using namespace rtabmap;
 

corelib/test/test_pydetector.cpp

@@ -23,7 +23,12 @@
 #include <fstream>
 #include <memory>
 #include <string>
+#ifdef _WIN32
+#include <process.h>
+#define getpid _getpid
+#else
 #include <unistd.h>
+#endif
 
 using namespace rtabmap;
 

corelib/test/test_pymatcher.cpp

@@ -23,7 +23,12 @@
 #include <fstream>
 #include <memory>
 #include <string>
+#ifdef _WIN32
+#include <process.h>
+#define getpid _getpid
+#else
 #include <unistd.h>
+#endif
 
 using namespace rtabmap;
 

corelib/test/test_rtabmap.cpp

@@ -22,7 +22,12 @@
 #include <set>
 #include <sstream>
 #include <string>
+#ifdef _WIN32
+#include <process.h>
+#define getpid _getpid
+#else
 #include <unistd.h>
+#endif
 #include <vector>
 
 using namespace rtabmap;

corelib/test/test_rtabmap_integration.cpp

@@ -36,7 +36,6 @@
 #include <iostream>
 #include <memory>
 #include <string>
-#include <unistd.h>
 
 using namespace rtabmap;
 
@@ -643,11 +642,11 @@ 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: empty 2863-3001, obstacle 4574-4937. Wide bounds absorb
+	// Observed: empty 2863-3048, obstacle 4339-4937. 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_GE(result.gridObstacleCells, 4200);
 	EXPECT_LE(result.gridObstacleCells, 5100);
 #ifdef RTABMAP_OCTOMAP
 	// Observed: empty 6072-8037, obstacle 39924-42883. Bounds are wide
@@ -718,11 +717,11 @@ TEST_F(RtabmapIntegrationFixture, PR2_Scan2D_RGBD_IcpReg)
 	EXPECT_EQ(21, result.finalGlobalGraphSize);
 	EXPECT_GE(result.proximityDetections, 1)
 			<< "PR2 2D-scan dataset should produce proximity detections";
-	// Observed: empty 22785-23455, obstacle 1302-1580. Range widened to
+	// Observed: empty 22785-23845, obstacle 1302-1624. Range widened to
 	// absorb run-to-run variance from the RANSAC correspondence rejector
 	// installed in the PCL ICP path (util3d_registration.cpp).
 	EXPECT_GE(result.gridEmptyCells, 22500);
-	EXPECT_LE(result.gridEmptyCells, 23800);
+	EXPECT_LE(result.gridEmptyCells, 24100);
 	EXPECT_GE(result.gridObstacleCells, 1250);
 	EXPECT_LE(result.gridObstacleCells, 1700);
 #ifdef RTABMAP_OCTOMAP
@@ -731,10 +730,10 @@ TEST_F(RtabmapIntegrationFixture, PR2_Scan2D_RGBD_IcpReg)
 	EXPECT_EQ(0, result.octomapObstacleCells);
 #endif
 	// Scan-based ICP loop closure with the PR2's 2D laser should align the
-	// final trajectory to within ~3 cm of the stored ground truth (run-to-run
-	// variance from TORO/visual loop-closure can shift this ~5 mm).
+	// final trajectory to within ~5 cm of the stored ground truth (RMSE
+	// observed up to ~0.045 m on macOS CI; Linux typically ~0.015-0.02 m).
 	ASSERT_GE(result.translationalRmseFinal, 0.0f)
 			<< "No Gt/translational_rmse in stats (ground truth missing?)";
-	EXPECT_LT(result.translationalRmseFinal, 0.03f)
+	EXPECT_LT(result.translationalRmseFinal, 0.05f)
 			<< "Final trajectory RMSE = " << result.translationalRmseFinal << " m";
 }