1 FAILED TEST: testDPGO.testRobustSinglePoseAveraging
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Description
@yuluntian in extending testStiefelProjection:
to cover an increased number of iterations (say j < 100):
testRobustSinglePoseAveraging fails with the following error:
/home/alex/catkin_ws/src/dpgo/tests/testPGO.cpp:120: Failure
Expected: ((ROpt - RTrue).norm()) <= (RMaxError), actual: 2.77197 vs 0.0282838
[ FAILED ] testDPGO.testRobustSinglePoseAveraging (2 ms)
Empirically, it seems repeat calls to Matrix::Random() within testStiefelProjection produces this error (replacing Matrix::Random() with Matrix::Identity(), for example, seems to indicate this is the case):
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Research direction
Start with tests/testUtils.cpp around the testStiefelProjection calls at lines 28 and 32, then inspect tests/testPGO.cpp around line 120. Run testDPGO.testRobustSinglePoseAveraging while increasing the iteration count and compare repeated Matrix::Random() calls with the reported alternatives. Done means the test remains reliable and passes with the expanded coverage.
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Assessment
- Tech stack
- cpp
- Domain
- testing
- Issue type
- Bug
- Difficulty
- 3/5
- Estimated time
- 1-2 days
- Activity status
- Stale
- Clarity
- Mostly clear
- Newbie friendliness
- 45/100