From e1f75f2387466d58fb71a2a380d924e1fe07ca60 Mon Sep 17 00:00:00 2001 From: Jose Luis Blanco-Claraco Date: Tue, 5 Sep 2023 11:10:01 +0200 Subject: [PATCH] relax unit test thresholds to fix 32bit issues --- gtsam/geometry/tests/testSphericalCamera.cpp | 16 ++++++++-------- 1 file changed, 8 insertions(+), 8 deletions(-) diff --git a/gtsam/geometry/tests/testSphericalCamera.cpp b/gtsam/geometry/tests/testSphericalCamera.cpp index 4bc851f351..bf0b6d0a7b 100644 --- a/gtsam/geometry/tests/testSphericalCamera.cpp +++ b/gtsam/geometry/tests/testSphericalCamera.cpp @@ -104,8 +104,8 @@ 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, 1e-5)); + EXPECT(assert_equal(numerical_point, Dpoint, 1e-5)); } /* ************************************************************************* */ @@ -123,8 +123,8 @@ 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, 1e-5)); + EXPECT(assert_equal(numerical_point, Dpoint, 1e-5)); } /* ************************************************************************* */ @@ -138,8 +138,8 @@ TEST(SphericalCamera, reprojectionError_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(numerical_pose, Dpose, 1e-5)); + EXPECT(assert_equal(numerical_point, Dpoint, 1e-5)); } /* ************************************************************************* */ @@ -151,8 +151,8 @@ 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, 1e-5)); + CHECK(assert_equal(numerical_point, Dpoint, 1e-5)); } /* ************************************************************************* */