Skip to content

Updated Multisession3ItMemoryThr flaky test checks #1758

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

Merged
matlabbe merged 1 commit into from
Aug 30, 2026
+17 −9
Merged

Updated Multisession3ItMemoryThr flaky test checks #1758

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
26 changes: 17 additions & 9 deletions corelib/test/test_rtabmap_integration.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -2379,10 +2379,13 @@ TEST_F(RtabmapIntegrationFixture, Multisession3ItMemoryThr)
// and the furthest is the one with none: what comes back into the working memory is what
// the hypotheses are drawn over.
//
// The loop counts move with the environment, the feature extraction not seeing quite the
// same thing: local-retrieval-only has since been seen at 259 and at 271, over the 265-287
// of both-retrieval, which is why the two are no longer ordered on the count. The value
// diff keeps its order everywhere it has been run.
// The numbers move with the environment, the feature extraction not seeing quite the same
// thing. The loop counts: local-retrieval-only has since been seen at 259 and at 271, over
// the 265-287 of both-retrieval, which is why the two are no longer ordered on the count.
// The value diff: a CI runner has since put no-retrieval at 0.0946 and
// local-retrieval-only at 0.0956, both out of the bands above and on either side of the
// gap between them, which is why the two are ordered with a margin below. Only
// both-retrieval against the other two has kept its order everywhere it has been run.
//
// The posterior time each run prints is left unasserted: it is what these variants are
// measured for, but also what a loaded runner moves most.
Expand Down Expand Up @@ -2520,12 +2523,17 @@ TEST_F(RtabmapIntegrationFixture, Multisession3ItMemoryThr)
// against 269) while both stay inside their own bands. Only a collapse is caught here.
EXPECT_GE(loopsPerVariant.at("both-retrieval"), loopsPerVariant.at("local-retrieval-only") - 15);

// What the retrieval buys is asserted on the hypotheses, where the three are ordered with
// room to spare -- the gaps are twice the spread of a variant: what comes back into the
// working memory is what the hypotheses are drawn over, so bringing back what the
// likelihood points at lands closest to the recorded session.
// What the retrieval buys is asserted on the hypotheses: what comes back into the working
// memory is what they are drawn over, so bringing back what the likelihood points at lands
// closest to the recorded session. Retrieving both against retrieving nothing is the wide
// one -- half the value diff -- and is ordered outright.
EXPECT_LT(valueDiffPerVariant.at("both-retrieval"), valueDiffPerVariant.at("local-retrieval-only"));
EXPECT_LT(valueDiffPerVariant.at("local-retrieval-only"), valueDiffPerVariant.at("no-retrieval"));
EXPECT_LT(valueDiffPerVariant.at("both-retrieval"), valueDiffPerVariant.at("no-retrieval"));

// The two adjacent ones are not ordered outright: their bands overlap on another machine,
// where the pair came out at 0.0956 against 0.0946 while each stayed under its own cap
// above. Only a reversal worth the name is caught here.
EXPECT_LT(valueDiffPerVariant.at("local-retrieval-only"), valueDiffPerVariant.at("no-retrieval") + 0.015f);
}

TEST_F(RtabmapIntegrationFixture, AppearanceOnly_PrecisionRecall)
Expand Down
Loading