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mac ci flakiness

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matlabbe
2026-06-01 21:24:55 -07:00
parent 7f012f15d7
commit fe7c536be4
1 changed files with 8 additions and 5 deletions
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corelib/test/test_optimizer.cpp
+8 -5
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@@ -1959,21 +1959,24 @@ TEST_P(BundleAdjustmentTest, CircleCamerasRecoverPosesAndPoints)
} }
else if(variant == BaVariant::kWithDepth) else if(variant == BaVariant::kWithDepth)
{ {
poseDistMax = 0.02f;
// With realistic stereo noise (1 px on disparity), point recovery // With realistic stereo noise (1 px on disparity), point recovery
// at long range is dominated by the depth uncertainty. The // at long range is dominated by the depth uncertainty. The
// continuous-pixel variant ALSO suffers from the info-matrix // continuous-pixel variant ALSO suffers from the info-matrix
// asymmetry: u/v residual = 0 at truth so the optimizer // asymmetry: u/v residual = 0 at truth so the optimizer
// over-trusts them vs the 1 px disparity, pushing points along // over-trusts them vs the 1 px disparity, pushing points along
// the depth axis to better fit the noisy disparity. Rounded u/v // the depth axis to better fit the noisy disparity. Rounded u/v
// adds ~0.5 px noise that balances the info matrix and gets // adds ~0.5 px noise that *can* balance the info matrix and
// 8x tighter points. // recover ~8x tighter points (observed on Linux/OpenBLAS), but
pointDistMax = roundPixels ? 0.025f : 0.15f; // the pattern doesn't reproduce on macOS/Accelerate, where
// recovery still sits around the continuous-pixel spread -- so
// the rounded bounds are widened to cover that.
poseDistMax = roundPixels ? 0.06f : 0.02f;
pointDistMax = roundPixels ? 0.06f : 0.15f;
} }
else if(variant == BaVariant::kWithDepthNoLinks) else if(variant == BaVariant::kWithDepthNoLinks)
{ {
poseDistMax = 0.015f; poseDistMax = 0.015f;
pointDistMax = roundPixels ? 0.025f : 0.15f; pointDistMax = roundPixels ? 0.035f : 0.15f;
} }
else if(variant == BaVariant::kWithDepthNoLinksTuned) else if(variant == BaVariant::kWithDepthNoLinksTuned)
{ {