From bf3c8291677d91bc52a2ffd040c221d7ce31e42c Mon Sep 17 00:00:00 2001
From: Sergi Pujol <sergi.pujol.badell@estudiantat.upc.edu>
Date: Thu, 25 Feb 2021 12:48:10 +0100
Subject: [PATCH] gtest modified
---
test/gtest_loop_closure_falko.cpp | 14 ++++++++------
1 file changed, 8 insertions(+), 6 deletions(-)
diff --git a/test/gtest_loop_closure_falko.cpp b/test/gtest_loop_closure_falko.cpp
index 04c70b7..14e0f96 100644
--- a/test/gtest_loop_closure_falko.cpp
+++ b/test/gtest_loop_closure_falko.cpp
@@ -16,7 +16,7 @@ TEST(loop_closure_falko, TestLoopClosureFalkoAllFunctions) {
scan.ranges_raw_.push_back(testRanges1[i]);
scan2.ranges_raw_.push_back(testRanges2[i]);
}
-
+
ParameterLoopClosureFalko param;
LoopClosureFalko<bsc, bscExtractor, NNMatcher> loop_cl_falko(param);
@@ -26,10 +26,12 @@ TEST(loop_closure_falko, TestLoopClosureFalkoAllFunctions) {
int firstPoint = scan_falko->ranges[0];
ASSERT_EQ(firstPoint, 250);
-
+
// Test extractScene
- auto new_scene = std::static_pointer_cast<SceneFalko<bsc>>(loop_cl_falko.extractScene(scan, laser_params));
- auto new_scene2 = std::static_pointer_cast<SceneFalko<bsc>>(loop_cl_falko.extractScene(scan2, laser_params));
+ auto new_scene = std::static_pointer_cast<SceneFalko<bsc>>(
+ loop_cl_falko.extractScene(scan, laser_params));
+ auto new_scene2 = std::static_pointer_cast<SceneFalko<bsc>>(
+ loop_cl_falko.extractScene(scan2, laser_params));
int detectedKeypoints = new_scene->keypoints_list_.size();
int detectedDescriptors = new_scene->descriptors_list_.size();
ASSERT_EQ(detectedKeypoints, 18);
@@ -39,8 +41,8 @@ TEST(loop_closure_falko, TestLoopClosureFalkoAllFunctions) {
auto new_match = loop_cl_falko.matchScene(new_scene, new_scene);
ASSERT_EQ(new_match->keypoints_number_match, 18);
- // TEST findLoopClosure
- auto ref_scenes= std::make_shared<SceneFalkoList<bsc>>();
+ // TesT findLoopClosure
+ auto ref_scenes = std::make_shared<SceneFalkoList<bsc>>();
ref_scenes->scenes_.emplace_back(new_scene);
ref_scenes->scenes_.emplace_back(new_scene2);
--
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