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loosing test bound

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matlabbe
2026-06-09 20:48:15 -07:00
parent a4871fe95a
commit b9fe30970a
1 changed files with 6 additions and 4 deletions
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corelib/test/test_rtabmap_integration.cpp
+6 -4
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@@ -1408,12 +1408,14 @@ TEST_F(RtabmapIntegrationFixture, PR2_Scan2D_Corridor_IcpReg)
// ratio (observed 43/48). // ratio (observed 43/48).
EXPECT_GE(result.proximityDetections, 35) << v.label; EXPECT_GE(result.proximityDetections, 35) << v.label;
// Stored ground truth + 3DoF ICP -> ~3 cm RMSE on the odom // Stored ground truth + 3DoF ICP. With recorded-odom guidance
// variants; the stored-odom variant inherits whatever drift // (guess / stored variants) RMSE stays around 3 cm; pure
// the recorded odom carries. 6 cm bound gives ~2x headroom. // ICP-F2M (own-odom) drifts more, ~8 cm on macOS CI runs,
// so it gets a looser bound.
ASSERT_GE(result.translationalRmseFinal, 0.0f) ASSERT_GE(result.translationalRmseFinal, 0.0f)
<< v.label << ": no Gt/translational_rmse in stats"; << v.label << ": no Gt/translational_rmse in stats";
EXPECT_LT(result.translationalRmseFinal, 0.06f) const float rmseBound = (v.mode == OdomMode::OwnOdom) ? 0.15f : 0.06f;
EXPECT_LT(result.translationalRmseFinal, rmseBound)
<< v.label << " RMSE = " << result.translationalRmseFinal << "m"; << v.label << " RMSE = " << result.translationalRmseFinal << "m";
if(v.mode != OdomMode::StoredOdomDirect) if(v.mode != OdomMode::StoredOdomDirect)