Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

relax unit test thresholds to fix 32bit issues #1625

Merged
merged 1 commit into from
Sep 8, 2023
Merged

relax unit test thresholds to fix 32bit issues #1625

Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
Relax unit test thresholds to fix 32bit issues 
Use a conditional threshold depending on architecture
  • Loading branch information
@jlblancoc
jlblancoc committed Sep 7, 2023
commit d2e4dff214d5c0fb7b8fd7b93ef2f3d936f280ac
25 changes: 16 additions & 9 deletions gtsam/geometry/tests/testSphericalCamera.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -24,6 +24,13 @@
#include <cmath>
#include <iostream>

#if defined(__i686__) || defined(__i386__)
// See issue discussion: https://github.com/borglab/gtsam/issues/1605
constexpr double TEST_THRESHOLD = 1e-5;
#else
constexpr double TEST_THRESHOLD = 1e-7;
#endif

using namespace std::placeholders;
using namespace std;
using namespace gtsam;
Expand Down Expand Up @@ -104,8 +111,8 @@ TEST(SphericalCamera, Dproject) {
Matrix numerical_pose = numericalDerivative21(project3, pose, point1);
Matrix numerical_point = numericalDerivative22(project3, pose, point1);
EXPECT(assert_equal(bearing1, result));
EXPECT(assert_equal(numerical_pose, Dpose, 1e-7));
EXPECT(assert_equal(numerical_point, Dpoint, 1e-7));
EXPECT(assert_equal(numerical_pose, Dpose, TEST_THRESHOLD));
EXPECT(assert_equal(numerical_point, Dpoint, TEST_THRESHOLD));
}

/* ************************************************************************* */
Expand All @@ -123,8 +130,8 @@ TEST(SphericalCamera, reprojectionError) {
Matrix numerical_point =
numericalDerivative32(reprojectionError2, pose, point1, bearing1);
EXPECT(assert_equal(Vector2(0.0, 0.0), result));
EXPECT(assert_equal(numerical_pose, Dpose, 1e-7));
EXPECT(assert_equal(numerical_point, Dpoint, 1e-7));
EXPECT(assert_equal(numerical_pose, Dpose, TEST_THRESHOLD));
EXPECT(assert_equal(numerical_point, Dpoint, TEST_THRESHOLD));
}

/* ************************************************************************* */
Expand All @@ -137,9 +144,9 @@ TEST(SphericalCamera, reprojectionError_noisy) {
numericalDerivative31(reprojectionError2, pose, point1, bearing_noisy);
Matrix numerical_point =
numericalDerivative32(reprojectionError2, pose, point1, bearing_noisy);
EXPECT(assert_equal(Vector2(-0.050282, 0.00833482), result, 1e-5));
EXPECT(assert_equal(numerical_pose, Dpose, 1e-7));
EXPECT(assert_equal(numerical_point, Dpoint, 1e-7));
EXPECT(assert_equal(Vector2(-0.050282, 0.00833482), result, 1e2*TEST_THRESHOLD));
EXPECT(assert_equal(numerical_pose, Dpose, TEST_THRESHOLD));
EXPECT(assert_equal(numerical_point, Dpoint, TEST_THRESHOLD));
}

/* ************************************************************************* */
Expand All @@ -151,8 +158,8 @@ TEST(SphericalCamera, Dproject2) {
camera.project2(point1, Dpose, Dpoint);
Matrix numerical_pose = numericalDerivative21(project3, pose1, point1);
Matrix numerical_point = numericalDerivative22(project3, pose1, point1);
CHECK(assert_equal(numerical_pose, Dpose, 1e-7));
CHECK(assert_equal(numerical_point, Dpoint, 1e-7));
CHECK(assert_equal(numerical_pose, Dpose, TEST_THRESHOLD));
CHECK(assert_equal(numerical_point, Dpoint, TEST_THRESHOLD));
}

/* ************************************************************************* */
Expand Down