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matlabbe
2026-05-28 22:50:44 -07:00
parent ef1df73deb
commit ac930c2ac2
7 changed files with 37 additions and 8 deletions
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corelib/test/test_rtabmap_integration.cpp
+7 -8
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@@ -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";
}