Original issue 44 created by sandwichmaker on 2012-06-12T14:44:10.000Z:
The following errors occur on Debian unstable and Ubuntu 12.10 (unreleased) (i386)
These distributions have gcc-4.7 and g++-4.7 and they are used as default one. When it is configured with CC=gcc-4.6 CXX=g++-4.6, autodiff_test throws "Exception: SegFault" and rotation_test is passed.
Start 2: autodiff_test
2/42 Test # 2: autodiff_test .............................***Failed 0.01 sec [==========] Running 3 tests from 1 test case. [----------] Global test environment set-up. [----------] 3 tests from AutoDiff [ RUN ] AutoDiff.ProjectiveCameraModel /build/buildd/ceres-solver-1.2.0/internal/ceres/autodiff_test.cc:188: Failure Value of: b_x[i] Actual: 0.937321 Expected: fd_x[i] Which is: 0.937321 [ FAILED ] AutoDiff.ProjectiveCameraModel (1 ms) [ RUN ] AutoDiff.Metric [ OK ] AutoDiff.Metric (0 ms) [ RUN ] AutoDiff.VaryingNumberOfResidualsForOneCostFunctorType [ OK ] AutoDiff.VaryingNumberOfResidualsForOneCostFunctorType (0 ms) [----------] 3 tests from AutoDiff (1 ms total)
[----------] Global test environment tear-down [==========] 3 tests from 1 test case ran. (1 ms total) [ PASSED ] 2 tests. [ FAILED ] 1 test, listed below: [ FAILED ] AutoDiff.ProjectiveCameraModel
1 FAILED TEST
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29/42 Test # 29: rotation_test .............................***Failed 38.15 sec [==========] Running 32 tests from 4 test cases. [----------] Global test environment set-up. [----------] 25 tests from Rotation [ RUN ] Rotation.ZeroAngleAxisToQuaternion [ OK ] Rotation.ZeroAngleAxisToQuaternion (0 ms)
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[ RUN ] Quaternion.MultiplicationIsAssociative [ OK ] Quaternion.MultiplicationIsAssociative (0 ms) [----------] 3 tests from Quaternion (1 ms total)
[----------] 2 tests from AngleAxis [ RUN ] AngleAxis.RotatePointGivesSameAnswerAsRotationMatrix /build/buildd/ceres-solver-1.2.0/internal/ceres/rotation_test.cc:869: Failure The difference between rotation_matrix_rotated_p[k] and angle_axis_rotated_p[k] is 4.8572257327350599e-15, which exceeds kTolerance, where rotation_matrix_rotated_p[k] evaluates to 0.20736379587646864, angle_axis_rotated_p[k] evaluates to 0.20736379587647349, and kTolerance evaluates to 2.2204460492503131e-15. p: 0.62684068625180078 0.2684996133989187 0.56501614189008997 angle_axis: -46.865001952191413 11.791397347707568 3.1415926535897931 /build/buildd/ceres-solver-1.2.0/internal/ceres/rotation_test.cc:869: Failure The difference between rotation_matrix_rotated_p[k] and angle_axis_rotated_p[k] is 2.5701663020072374e-14, which exceeds kTolerance, where rotation_matrix_rotated_p[k] evaluates to 0.44503886649343843, angle_axis_rotated_p[k] evaluates to 0.44503886649346414, and kTolerance evaluates to 2.2204460492503131e-15. p: 0.73560060641523484 -0.55003317424563369 -0.79165624351783481 angle_axis: -390.39518008088459 -171.79049495707383 -3.1415926535897931
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该提问来源于开源项目：ceres-solver/ceres-solver
