test tolerance loosenings

bottler · facebook-github-bot · commit b26f4bc33ad1 · 2021-10-07T10:48:12.000-07:00
Summary: Increase some test tolerances so that they pass in more situations, and re-enable two tests.

Reviewed By: nikhilaravi

Differential Revision: D31379717

fbshipit-source-id: 06a25470cc7b6d71cd639d9fd7df500d4b84c079
diff --git a/tests/test_cameras_alignment.py b/tests/test_cameras_alignment.py
@@ -31,7 +31,6 @@ def test_corresponding_cameras_alignment(self):
         """
         Checks the corresponding_cameras_alignment function.
         """
-        self.skipTest("Temporarily disabled pending investigation")
         device = torch.device("cuda:0")
 
         # try few different random setups
@@ -134,10 +133,10 @@ def _rmse(a):
                     )
                 elif mode == "extrinsics":
                     angle_err = so3_relative_angle(
-                        cameras_aligned.R, cameras_tgt.R
+                        cameras_aligned.R, cameras_tgt.R, cos_angle=True
                     ).mean()
                     self.assertClose(
-                        angle_err, torch.zeros_like(angle_err), atol=add_noise * 10.0
+                        angle_err, torch.ones_like(angle_err), atol=add_noise * 0.03
                     )
                     self.assertNormsClose(
                         cameras_aligned.T, cameras_tgt.T, _rmse, atol=add_noise * 7.0
diff --git a/tests/test_points_alignment.py b/tests/test_points_alignment.py
@@ -159,12 +159,13 @@ def test_init_transformation(self, batch_size=10):
                     self.assertClose(s_init, s, atol=atol)
                     self.assertClose(Xt_init, Xt, atol=atol)
 
-    def test_heterogeneous_inputs(self, batch_size=10):
+    def test_heterogeneous_inputs(self, batch_size=7):
         """
         Tests whether we get the same result when running ICP on
         a set of randomly-sized Pointclouds and on their padded versions.
         """
 
+        torch.manual_seed(4)
         device = torch.device("cuda:0")
 
         for estimate_scale in (True, False):
@@ -501,7 +502,6 @@ def test_corresponding_points_alignment(self, batch_size=10):
             - use_pointclouds ... If True, passes the Pointclouds objects
                                   to corresponding_points_alignment.
         """
-        self.skipTest("Temporarily disabled pending investigation")
         # run this for several different point cloud sizes
         for n_points in (100, 3, 2, 1):
             # run this for several different dimensionalities
@@ -640,7 +640,10 @@ def align_and_get_mse(weights_):
         if reflect and not allow_reflection:
             # check that all rotations have det=1
             self._assert_all_close(
-                torch.det(R_est), R_est.new_ones(batch_size), assert_error_message
+                torch.det(R_est),
+                R_est.new_ones(batch_size),
+                assert_error_message,
+                atol=2e-5,
             )
 
         else:
@@ -665,13 +668,13 @@ def align_and_get_mse(weights_):
                 desired_det = R_est.new_ones(batch_size)
                 if reflect:
                     desired_det *= -1.0
-                self._assert_all_close(torch.det(R_est), desired_det, msg, w)
+                self._assert_all_close(torch.det(R_est), desired_det, msg, w, atol=2e-5)
 
             # check that the transformed point cloud
             # X matches X_t
             X_t_est = _apply_pcl_transformation(X, R_est, T_est, s=s_est)
             self._assert_all_close(
-                X_t, X_t_est, assert_error_message, w[:, None, None], atol=1e-5
+                X_t, X_t_est, assert_error_message, w[:, None, None], atol=2e-5
             )
 
     def _assert_all_close(self, a_, b_, err_message, weights=None, atol=1e-6):
diff --git a/tests/test_rasterize_rectangle_images.py b/tests/test_rasterize_rectangle_images.py
@@ -322,7 +322,7 @@ def _compare_square_with_nonsq(
 
             # Finally check the gradients of the input vertices for
             # the square and non square case
-            self.assertClose(verts_square.grad, grad_tensor.grad, rtol=3e-4)
+            self.assertClose(verts_square.grad, grad_tensor.grad, rtol=3e-4, atol=5e-3)
 
     def test_gpu(self):
         """
