1 FAILED TEST: testDPGO.testRobustSinglePoseAveraging

[adthoms]

@yuluntian in extending testStiefelProjection:

dpgo/tests/testUtils.cpp

Line 28 in a238090

TEST(testDPGO, testStiefelProjection) {

to cover an increased number of iterations (say j < 100):

dpgo/tests/testUtils.cpp

Line 32 in a238090

for (size_t j = 0; j < 50; ++j) {

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):

[adthoms]

Alternatively, changing the number of iterations directly within testRobustSinglePoseAveraging to trial < 500, for example:

dpgo/tests/testPGO.cpp

Line 87 in a238090

for (int trial = 0; trial < 50; ++trial) {

reproduces the identical error