testIMUFactor unit test fails
Issue #257
resolved
This might just be a tolerance issue, but 1e-4 is already pretty lax. This failure is on Ubuntu 14.04 with Boost 1.54. Jenkins is running 1.56, so the difference in output between the two systems is probably due to a change in Boost's RNG?
131/225 Test #131: testImuFactor ..........................***Failed 0.69 sec
not equal:
expected = [
0.0020300762, 9.17425378e-06, -1.83649615e-05, 6.11878692e-07, 6.46025364e-06, 1.50640544e-07, 1.22375738e-05, 0.000129205073, 3.01281088e-06,
9.17425378e-06, 0.00101271538, 8.56046462e-05, -2.6724765e-06, -2.68773553e-06, -1.47595059e-07, -5.34495299e-05, -5.37547106e-05, -2.95190118e-06,
-1.83649615e-05, 8.56046462e-05, 0.00310595999, -2.00839403e-06, -1.57131688e-06, -9.05058374e-06, -4.01678805e-05, -3.14263375e-05, -0.000181011675,
6.11878692e-07, -2.6724765e-06, -2.00839403e-06, 7.76082396e-06, 8.61143367e-08, 2.38379666e-08, 0.000155216479, 1.72228673e-06, 4.76759331e-07,
6.46025364e-06, -2.68773553e-06, -1.57131688e-06, 8.61143367e-08, 5.12312679e-06, -1.94000086e-07, 1.72228673e-06, 0.000102462536, -3.88000172e-06,
1.50640544e-07, -1.47595059e-07, -9.05058374e-06, 2.38379666e-08, -1.94000086e-07, 2.53292807e-06, 4.76759331e-07, -3.88000172e-06, 5.06585614e-05,
1.22375738e-05, -5.34495299e-05, -4.01678805e-05, 0.000155216479, 1.72228673e-06, 4.76759331e-07, 0.00310432959, 3.44457347e-05, 9.53518662e-06,
0.000129205073, -5.37547106e-05, -3.14263375e-05, 1.72228673e-06, 0.000102462536, -3.88000172e-06, 3.44457347e-05, 0.00204925072, -7.76000343e-05,
3.01281088e-06, -2.95190118e-06, -0.000181011675, 4.76759331e-07, -3.88000172e-06, 5.06585614e-05, 9.53518662e-06, -7.76000343e-05, 0.00101317123,
];
actual = [
0.002, -3.75709602e-21, -6.10591974e-20, 7.67116361e-23, 6.20540441e-06, 8.49048176e-07, 1.53423272e-21, 0.000124108088, 1.69809635e-05,
-3.75709602e-21, 0.00100157049, 6.13580344e-05, -1.56271359e-06, -3.08043809e-06, -9.3912804e-08, -3.12542719e-05, -6.16087619e-05, -1.87825608e-06,
-6.10591974e-20, 6.13580344e-05, 0.00299717237, -8.73525736e-07, -4.70985861e-07, -9.19502681e-06, -1.74705147e-05, -9.41971722e-06, -0.000183900536,
7.67116361e-23, -1.56271359e-06, -8.73525736e-07, 7.50264034e-06, 4.87963833e-09, 2.5342158e-09, 0.000150052807, 9.75927665e-08, 5.0684316e-08,
6.20540441e-06, -3.08043809e-06, -4.70985861e-07, 4.87963833e-09, 5.01933642e-06, -1.49364303e-07, 9.75927665e-08, 0.000100386728, -2.98728606e-06,
8.49048176e-07, -9.3912804e-08, -9.19502681e-06, 2.5342158e-09, -1.49364303e-07, 2.5379967e-06, 5.0684316e-08, -2.98728606e-06, 5.07599341e-05,
1.53423272e-21, -3.12542719e-05, -1.74705147e-05, 0.000150052807, 9.75927665e-08, 5.0684316e-08, 0.00300105614, 1.95185533e-06, 1.01368632e-06,
0.000124108088, -6.16087619e-05, -9.41971722e-06, 9.75927665e-08, 0.000100386728, -2.98728606e-06, 1.95185533e-06, 0.00200773457, -5.97457211e-05,
1.69809635e-05, -1.87825608e-06, -0.000183900536, 5.0684316e-08, -2.98728606e-06, 5.07599341e-05, 1.01368632e-06, -5.97457211e-05, 0.00101519868,
];
actual - expected = [
-3.00761954e-05, -9.17425378e-06, 1.83649615e-05, -6.11878692e-07, -2.54849232e-07, 6.98407632e-07, -1.22375738e-05, -5.09698464e-06, 1.39681526e-05,
-9.17425378e-06, -1.11448973e-05, -2.42466118e-05, 1.1097629e-06, -3.92702566e-07, 5.36822548e-08, 2.21952581e-05, -7.85405132e-06, 1.0736451e-06,
1.83649615e-05, -2.42466118e-05, -0.000108787626, 1.13486829e-06, 1.10033101e-06, -1.44443073e-07, 2.26973658e-05, 2.20066203e-05, -2.88886146e-06,
-6.11878692e-07, 1.1097629e-06, 1.13486829e-06, -2.58183622e-07, -8.12346983e-08, -2.13037508e-08, -5.16367245e-06, -1.62469397e-06, -4.26075015e-07,
-2.54849232e-07, -3.92702566e-07, 1.10033101e-06, -8.12346983e-08, -1.03790371e-07, 4.46357829e-08, -1.62469397e-06, -2.07580742e-06, 8.92715659e-07,
6.98407632e-07, 5.36822548e-08, -1.44443073e-07, -2.13037508e-08, 4.46357829e-08, 5.06863319e-09, -4.26075015e-07, 8.92715659e-07, 1.01372664e-07,
-1.22375738e-05, 2.21952581e-05, 2.26973658e-05, -5.16367245e-06, -1.62469397e-06, -4.26075015e-07, -0.000103273449, -3.24938793e-05, -8.5215003e-06,
-5.09698464e-06, -7.85405132e-06, 2.20066203e-05, -1.62469397e-06, -2.07580742e-06, 8.92715659e-07, -3.24938793e-05, -4.15161483e-05, 1.78543132e-05,
1.39681526e-05, 1.0736451e-06, -2.88886146e-06, -4.26075015e-07, 8.92715659e-07, 1.01372664e-07, -8.5215003e-06, 1.78543132e-05, 2.02745327e-06,
];
/home/cbeall3/git/gtsam/gtsam/navigation/tests/testImuFactor.cpp:701: Failure: "MonteCarlo(pim, NavState(x1, v1), bias, dt, body_P_sensor, measuredAcc, measuredOmega, accNoiseVar2, omegaNoiseVar2, 10000)"
not equal:
expected = [
0.00310787707, -3.77037458e-05, 2.26334804e-05, 4.02408293e-07, -6.22778501e-07, 1.36298031e-06, 8.04816586e-06, -1.245557e-05, 2.72596062e-05,
-3.77037458e-05, 0.0030300488, -1.22252265e-05, 5.62749489e-07, 6.02072833e-07, -1.10574275e-06, 1.12549898e-05, 1.20414567e-05, -2.2114855e-05,
2.26334804e-05, -1.22252265e-05, 0.00304643606, -2.34940282e-08, -5.75131955e-08, 5.45568239e-07, -4.69880565e-07, -1.15026391e-06, 1.09113648e-05,
4.02408293e-07, 5.62749489e-07, -2.34940282e-08, 2.47217579e-06, 2.96908405e-08, -1.73574005e-08, 4.94435158e-05, 5.9381681e-07, -3.47148009e-07,
-6.22778501e-07, 6.02072833e-07, -5.75131955e-08, 2.96908405e-08, 2.54009611e-06, -1.24946851e-08, 5.9381681e-07, 5.08019222e-05, -2.49893701e-07,
1.36298031e-06, -1.10574275e-06, 5.45568239e-07, -1.73574005e-08, -1.24946851e-08, 2.57103582e-06, -3.47148009e-07, -2.49893701e-07, 5.14207163e-05,
8.04816586e-06, 1.12549898e-05, -4.69880565e-07, 4.94435158e-05, 5.9381681e-07, -3.47148009e-07, 0.000988870316, 1.18763362e-05, -6.94296018e-06,
-1.245557e-05, 1.20414567e-05, -1.15026391e-06, 5.9381681e-07, 5.08019222e-05, -2.49893701e-07, 1.18763362e-05, 0.00101603844, -4.99787403e-06,
2.72596062e-05, -2.2114855e-05, 1.09113648e-05, -3.47148009e-07, -2.49893701e-07, 5.14207163e-05, -6.94296018e-06, -4.99787403e-06, 0.00102841433,
];
actual = [
0.00299950657, 2.46715759e-07, 2.46715759e-07, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
2.46715759e-07, 0.00299950657, 2.46715759e-07, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
2.46715759e-07, 2.46715759e-07, 0.00299950657, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 2.5e-06, 6.90695811e-23, 3.97046694e-23, 5e-05, 1.28378431e-21, 1.27054942e-21,
0.0, 0.0, 0.0, 4.25998015e-23, 2.5e-06, 6.6174449e-23, 1.29040176e-21, 5e-05, 1.27054942e-21,
0.0, 0.0, 0.0, 6.6174449e-23, 3.97046694e-23, 2.5e-06, 1.27054942e-21, 1.27054942e-21, 5e-05,
0.0, 0.0, 0.0, 5e-05, 1.50215999e-21, 1.05879118e-21, 0.001, 2.75285708e-20, 2.71050543e-20,
0.0, 0.0, 0.0, 1.07202607e-21, 5e-05, 1.48230766e-21, 2.75285708e-20, 0.001, 2.71050543e-20,
0.0, 0.0, 0.0, 1.48230766e-21, 1.05879118e-21, 5e-05, 2.71050543e-20, 2.71050543e-20, 0.001,
];
actual - expected = [
-0.000108370504, 3.79504616e-05, -2.23867646e-05, -4.02408293e-07, 6.22778501e-07, -1.36298031e-06, -8.04816586e-06, 1.245557e-05, -2.72596062e-05,
3.79504616e-05, -3.05422298e-05, 1.24719423e-05, -5.62749489e-07, -6.02072833e-07, 1.10574275e-06, -1.12549898e-05, -1.20414567e-05, 2.2114855e-05,
-2.23867646e-05, 1.24719423e-05, -4.69294959e-05, 2.34940282e-08, 5.75131955e-08, -5.45568239e-07, 4.69880565e-07, 1.15026391e-06, -1.09113648e-05,
-4.02408293e-07, -5.62749489e-07, 2.34940282e-08, 2.78242088e-08, -2.96908405e-08, 1.73574005e-08, 5.56484176e-07, -5.9381681e-07, 3.47148009e-07,
6.22778501e-07, -6.02072833e-07, 5.75131955e-08, -2.96908405e-08, -4.00961085e-08, 1.24946851e-08, -5.9381681e-07, -8.0192217e-07, 2.49893701e-07,
-1.36298031e-06, 1.10574275e-06, -5.45568239e-07, 1.73574005e-08, 1.24946851e-08, -7.10358153e-08, 3.47148009e-07, 2.49893701e-07, -1.42071631e-06,
-8.04816586e-06, -1.12549898e-05, 4.69880565e-07, 5.56484176e-07, -5.9381681e-07, 3.47148009e-07, 1.11296835e-05, -1.18763362e-05, 6.94296018e-06,
1.245557e-05, -1.20414567e-05, 1.15026391e-06, -5.9381681e-07, -8.0192217e-07, 2.49893701e-07, -1.18763362e-05, -1.60384434e-05, 4.99787403e-06,
-2.72596062e-05, 2.2114855e-05, -1.09113648e-05, 3.47148009e-07, 2.49893701e-07, -1.42071631e-06, 6.94296018e-06, 4.99787403e-06, -2.84143261e-05,
];
/home/cbeall3/git/gtsam/gtsam/navigation/tests/testImuFactor.cpp:841: Failure: "MonteCarlo(pim, NavState(x1, v1), bias, 0.1, boost::none, measuredAcc, measuredOmega, Vector3::Constant(accNoiseVar), Vector3::Constant(omegaNoiseVar))"
There were 2 failures
Comments (7)
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-
Maybe this is solved using a random seed?
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I have to reproduce the error with Boost 1.54. But ~0.00011 errors for MC tests do not look too bad for me. I don't think random seeds are ok as we need deterministic test results.
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I have fixed this in a branch by increasing nr of samples. Note I am also looking again at the IMU factor. I think NavState as a Lie group might have been one bridge too far,
-
I'm glad it works. Increasing nr of samples sometimes cause bad effects in my experiments. I usually need to double-check the statistics of generated RVs.
Why don't you like NavState? I didn't like it at first as it's not atomic and I'm not sure if it's "physically" correct, but then I feel it's kind of neat. Some of its functions are specific for preintegration and should be taken out though.
--
Duy-Nguyen
-
I am retreating from the position that it should be a lie group. Maybe it's simply a manifold, with a retractor permission compatible with SE3
-
reporter
- changed status to resolved
Resolved with pull request #192
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Duy?