Commit 2c8020ca authored by mederic_fourmy's avatar mederic_fourmy
Browse files

Fix gtest

parent 291abed2
......@@ -32,7 +32,6 @@
#include "apriltag/internal/config.h"
using namespace Eigen;
using namespace wolf;
using std::static_pointer_cast;
////////////////////////////////////////////////////////////////
......@@ -322,11 +321,16 @@ TEST_F(ProcessorTrackerLandmarkApriltag_class, emplaceLandmark)
TEST_F(ProcessorTrackerLandmarkApriltag_class, emplaceFactor)
{
auto f1 = std::make_shared<FeatureApriltag>(pose_default_, cov_pose_, tag_id_, corners_vec_, rep_error1, rep_error2, use_rotation);
auto f1 = FeatureBase::emplace<FeatureApriltag>(C1, pose_default_, cov_pose_, tag_id_, corners_vec_, rep_error1, rep_error2, use_rotation);
LandmarkBasePtr lmk = prc_apr->emplaceLandmark(f1);
LandmarkApriltagPtr lmk_april = std::static_pointer_cast<LandmarkApriltag>(lmk);
auto st = prc_apr->getSensor()->getO()->getState();
std::cout << prc_apr->getSensor()->getStructure() << std::endl;
std::cout << st.transpose() << std::endl;
FactorBasePtr ctr = prc_apr->emplaceFactor(f1, lmk);
ASSERT_TRUE(ctr->getFeature() == f1);
......
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