Merge pull request #1966 from borglab/cross-platform-tests

borglab · Jan 10, 2025 · 22bdd2a · 22bdd2a
2 parents 89fbe4b + 62b0ed6
commit 22bdd2a
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Showing 4 changed files with 52 additions and 26 deletions.
diff --git a/gtsam/hybrid/tests/testHybridBayesNet.cpp b/gtsam/hybrid/tests/testHybridBayesNet.cpp
@@ -34,6 +34,7 @@
 #include <CppUnitLite/TestHarness.h>
 
 #include <memory>
+#include <numeric>
 
 using namespace std;
 using namespace gtsam;
@@ -552,19 +553,23 @@ TEST(HybridBayesNet, Sampling) {
   EXPECT_LONGS_EQUAL(2, average_continuous.size());
   EXPECT_LONGS_EQUAL(num_samples, discrete_samples.size());
 
-  // Regressions don't work across platforms :-(
-  // // regression for specific RNG seed
-  // double discrete_sum =
-  //     std::accumulate(discrete_samples.begin(), discrete_samples.end(),
-  //                     decltype(discrete_samples)::value_type(0));
-  // EXPECT_DOUBLES_EQUAL(0.477, discrete_sum / num_samples, 1e-9);
-
-  // VectorValues expected;
-  // expected.insert({X(0), Vector1(-0.0131207162712)});
-  // expected.insert({X(1), Vector1(-0.499026377568)});
-  // // regression for specific RNG seed
-  // EXPECT(assert_equal(expected, average_continuous.scale(1.0 /
-  // num_samples)));
+  // regression for specific RNG seed
+  double discrete_sum =
+      std::accumulate(discrete_samples.begin(), discrete_samples.end(),
+                      decltype(discrete_samples)::value_type(0));
+  EXPECT_DOUBLES_EQUAL(0.477, discrete_sum / num_samples, 1e-9);
+
+  VectorValues expected;
+  // regression for specific RNG seed
+#if __APPLE__ || _WIN32
+  expected.insert({X(0), Vector1(-0.0131207162712)});
+  expected.insert({X(1), Vector1(-0.499026377568)});
+#elif __linux__
+  expected.insert({X(0), Vector1(-0.00799425182219)});
+  expected.insert({X(1), Vector1(-0.526463854268)});
+#endif
+
+  EXPECT(assert_equal(expected, average_continuous.scale(1.0 / num_samples)));
 }
 
 /* ****************************************************************************/

diff --git a/gtsam/linear/tests/testGaussianBayesNet.cpp b/gtsam/linear/tests/testGaussianBayesNet.cpp
@@ -186,9 +186,15 @@ TEST(GaussianBayesNet, sample) {
   std::mt19937_64 rng(4242);
   auto actual3 = gbn.sample(&rng);
   EXPECT_LONGS_EQUAL(2, actual.size());
-  // regression is not repeatable across platforms/versions :-(
-  // EXPECT(assert_equal(Vector2(20.0129382, 40.0039798), actual[X(1)], 1e-5));
-  // EXPECT(assert_equal(Vector2(110.032083, 230.039811), actual[X(0)], 1e-5));
+
+  // regressions
+#if __APPLE__ || _WIN32
+  EXPECT(assert_equal(Vector2(20.0129382, 40.0039798), actual[X(1)], 1e-5));
+  EXPECT(assert_equal(Vector2(110.032083, 230.039811), actual[X(0)], 1e-5));
+#elif __linux__
+  EXPECT(assert_equal(Vector2(20.0070499, 39.9942591), actual[X(1)], 1e-5));
+  EXPECT(assert_equal(Vector2(109.976501, 229.990945), actual[X(0)], 1e-5));
+#endif
 }
 
 /* ************************************************************************* */

diff --git a/gtsam/linear/tests/testGaussianConditional.cpp b/gtsam/linear/tests/testGaussianConditional.cpp
@@ -464,8 +464,12 @@ TEST(GaussianConditional, sample) {
   std::mt19937_64 rng(4242);
   auto actual3 = conditional.sample(given, &rng);
   EXPECT_LONGS_EQUAL(1, actual2.size());
-  // regression is not repeatable across platforms/versions :-(
-  // EXPECT(assert_equal(Vector2(31.0111856, 64.9850775), actual2[X(0)], 1e-5));
+  // regressions
+#if __APPLE__ || _WIN32
+  EXPECT(assert_equal(Vector2(31.0111856, 64.9850775), actual2[X(0)], 1e-5));
+#elif __linux__
+  EXPECT(assert_equal(Vector2(30.9809331, 64.9927588), actual2[X(0)], 1e-5));
+#endif
 }
 
 /* ************************************************************************* */

diff --git a/gtsam/sfm/tests/testShonanAveraging.cpp b/gtsam/sfm/tests/testShonanAveraging.cpp
@@ -205,14 +205,25 @@ TEST(ShonanAveraging3, CheckWithEigen) {
       ShonanAveraging3::LiftwithDescent(4, Qstar3, descentDirection);
   EXPECT_LONGS_EQUAL(5, initialQ4.size());
 
-  // TODO(frank): uncomment this regression test: currently not repeatable
-  // across platforms.
-  // Matrix expected(4, 4);
-  // expected << 0.0459224, -0.688689, -0.216922, 0.690321, //
-  //     0.92381, 0.191931, 0.255854, 0.21042,              //
-  //     -0.376669, 0.301589, 0.687953, 0.542111,           //
-  //     -0.0508588, 0.630804, -0.643587, 0.43046;
-  // EXPECT(assert_equal(SOn(expected), initialQ4.at<SOn>(0), 1e-5));
+  Matrix expected(4, 4);
+#if __APPLE__
+  expected << 0.145767, -0.938445, 0.135713, -0.282233,  //
+      0.780348, -0.0104323, 0.266238, 0.565743,          //
+      -0.383624, 0.0434887, 0.917211, 0.0983088,         //
+      -0.471849, -0.342523, -0.263482, 0.768514;
+#elif __linux__
+  expected << 0.100724, -0.987231, 0.104092, 0.0662867,  //
+      0.571527, 0.0292782, 0.226546, -0.788147,          //
+      -0.349294, 0.064102, 0.93465, 0.0177471,           //
+      0.735667, 0.142857, 0.253519, 0.611649;
+#elif _WIN32
+  expected << 0.0825862, -0.645931, 0.271896, 0.708537,  //
+      0.927285, -0.0156335, 0.291603, -0.234236,         //
+      -0.36419, -0.132115, 0.831933, -0.39724,           //
+      0.0262425, 0.751715, 0.385912, 0.534143;
+#endif
+
+  EXPECT(assert_equal(SOn(expected), initialQ4.at<SOn>(0), 1e-5));
 }
 
 /* ************************************************************************* */