i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-10-04 00:57:46 +08:00
Code Issues Packages Projects Releases Wiki Activity

mac ci flakiness

Browse Source
This commit is contained in:
matlabbe
2026-06-01 21:24:55 -07:00
parent 7f012f15d7
commit fe7c536be4
1 changed files with 8 additions and 5 deletions
Download Patch File Download Diff File Expand all files Collapse all files
corelib/test/test_optimizer.cpp
+8 -5
View File
@@ -1959,21 +1959,24 @@ TEST_P(BundleAdjustmentTest, CircleCamerasRecoverPosesAndPoints)
}
else if(variant == BaVariant::kWithDepth)
{
poseDistMax = 0.02f;
// With realistic stereo noise (1 px on disparity), point recovery
// at long range is dominated by the depth uncertainty. The
// continuous-pixel variant ALSO suffers from the info-matrix
// asymmetry: u/v residual = 0 at truth so the optimizer
// over-trusts them vs the 1 px disparity, pushing points along
// the depth axis to better fit the noisy disparity. Rounded u/v
// adds ~0.5 px noise that balances the info matrix and gets
// 8x tighter points.
pointDistMax = roundPixels ? 0.025f : 0.15f;
// adds ~0.5 px noise that *can* balance the info matrix and
// recover ~8x tighter points (observed on Linux/OpenBLAS), but
// 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)
{
poseDistMax = 0.015f;
pointDistMax = roundPixels ? 0.025f : 0.15f;
pointDistMax = roundPixels ? 0.035f : 0.15f;
}
else if(variant == BaVariant::kWithDepthNoLinksTuned)
{