From 20a4fd176bcf01c6eec6279b95240606c17a8f90 Mon Sep 17 00:00:00 2001
From: mederic_fourmy <mederic.fourmy@gmail.com>
Date: Tue, 7 May 2019 14:38:40 +0200
Subject: [PATCH] Adapted apriltag processor gtest to apriltag 3 families +
minor yaml inconsistencies
---
src/examples/processor_imu.yaml | 1 +
src/examples/processor_imu_no_vote.yaml | 1 +
src/examples/processor_imu_t1.yaml | 1 +
src/examples/processor_imu_t6.yaml | 1 +
...st_processor_tracker_landmark_apriltag.cpp | 35 +++++++++++++++----
5 files changed, 32 insertions(+), 7 deletions(-)
diff --git a/src/examples/processor_imu.yaml b/src/examples/processor_imu.yaml
index 9d3d4fb80..8e8a6c8cd 100644
--- a/src/examples/processor_imu.yaml
+++ b/src/examples/processor_imu.yaml
@@ -1,6 +1,7 @@
processor type: "IMU" # This must match the KEY used in the SensorFactory. Otherwise it is an error.
processor name: "Main imu" # This is ignored. The name provided to the SensorFactory prevails
unmeasured perturbation std: 0.00001
+time tolerance: 0.0025 # Time tolerance for joining KFs
keyframe vote:
max time span: 2.0 # seconds
max buffer length: 20000 # motion deltas
diff --git a/src/examples/processor_imu_no_vote.yaml b/src/examples/processor_imu_no_vote.yaml
index 4a1dd140e..678867b71 100644
--- a/src/examples/processor_imu_no_vote.yaml
+++ b/src/examples/processor_imu_no_vote.yaml
@@ -1,5 +1,6 @@
processor type: "IMU" # This must match the KEY used in the SensorFactory. Otherwise it is an error.
processor name: "Main imu" # This is ignored. The name provided to the SensorFactory prevails
+time tolerance: 0.0025 # Time tolerance for joining KFs
unmeasured perturbation std: 0.00001
keyframe vote:
max time span: 999999.0 # seconds
diff --git a/src/examples/processor_imu_t1.yaml b/src/examples/processor_imu_t1.yaml
index e290b5ac4..b68740d24 100644
--- a/src/examples/processor_imu_t1.yaml
+++ b/src/examples/processor_imu_t1.yaml
@@ -1,6 +1,7 @@
processor type: "IMU" # This must match the KEY used in the SensorFactory. Otherwise it is an error.
processor name: "Main imu" # This is ignored. The name provided to the SensorFactory prevails
unmeasured perturbation std: 0.00001
+time tolerance: 0.0025 # Time tolerance for joining KFs
keyframe vote:
max time span: 0.9999 # seconds
max buffer length: 10000 # motion deltas
diff --git a/src/examples/processor_imu_t6.yaml b/src/examples/processor_imu_t6.yaml
index b864e9859..511a917c7 100644
--- a/src/examples/processor_imu_t6.yaml
+++ b/src/examples/processor_imu_t6.yaml
@@ -1,6 +1,7 @@
processor type: "IMU" # This must match the KEY used in the SensorFactory. Otherwise it is an error.
processor name: "Main imu" # This is ignored. The name provided to the SensorFactory prevails
unmeasured perturbation std: 0.00001
+time tolerance: 0.0025 # Time tolerance for joining KFs
keyframe vote:
max time span: 5.9999 # seconds
max buffer length: 10000 # motion deltas
diff --git a/test/gtest_processor_tracker_landmark_apriltag.cpp b/test/gtest_processor_tracker_landmark_apriltag.cpp
index e3cd1cfb0..f3b3e1607 100644
--- a/test/gtest_processor_tracker_landmark_apriltag.cpp
+++ b/test/gtest_processor_tracker_landmark_apriltag.cpp
@@ -126,26 +126,47 @@ TEST(ProcessorTrackerLandmarkApriltag, Constructor)
std::string s2;
ProcessorParamsTrackerLandmarkApriltagPtr params = std::make_shared<ProcessorParamsTrackerLandmarkApriltag>();
- params->tag_family_ = "tag36h11";
- ProcessorTrackerLandmarkApriltagPtr p = std::make_shared<ProcessorTrackerLandmarkApriltag>(params);
+
+ ProcessorTrackerLandmarkApriltagPtr p;
+
+ params->tag_family_ = "tag16h5";
+ p = std::make_shared<ProcessorTrackerLandmarkApriltag>(params);
ASSERT_TRUE(p->getTagFamily() == params->tag_family_);
- params->tag_family_ = "tag36h10";
+ params->tag_family_ = "tag25h9";
p = std::make_shared<ProcessorTrackerLandmarkApriltag>(params);
ASSERT_TRUE(p->getTagFamily() == params->tag_family_);
- params->tag_family_ = "tag36artoolkit";
+ params->tag_family_ = "tag36h11";
p = std::make_shared<ProcessorTrackerLandmarkApriltag>(params);
- ASSERT_TRUE(p->getTagFamily() == "artoolkit"); // This tagfamily is stored differently by apriltag library
+ ASSERT_TRUE(p->getTagFamily() == params->tag_family_);
- params->tag_family_ = "tag25h9";
+ params->tag_family_ = "tagCircle21h7";
p = std::make_shared<ProcessorTrackerLandmarkApriltag>(params);
ASSERT_TRUE(p->getTagFamily() == params->tag_family_);
- params->tag_family_ = "tag25h7";
+ params->tag_family_ = "tagStandard41h12";
p = std::make_shared<ProcessorTrackerLandmarkApriltag>(params);
ASSERT_TRUE(p->getTagFamily() == params->tag_family_);
+ // ! At the time of this test rewriting, Apriltag3 bugs on the creation of the
+ // subsequent family's detector
+
+ // NOPE
+ // params->tag_family_ = "tagCircle49h12";
+ // p = std::make_shared<ProcessorTrackerLandmarkApriltag>(params);
+ // ASSERT_TRUE(p->getTagFamily() == params->tag_family_);
+
+ // NOPE
+ // params->tag_family_ = "tagCustom48h12";
+ // p = std::make_shared<ProcessorTrackerLandmarkApriltag>(params);
+ // ASSERT_TRUE(p->getTagFamily() == params->tag_family_);
+
+ // NOPE
+ // params->tag_family_ = "tagStandard52h13";
+ // p = std::make_shared<ProcessorTrackerLandmarkApriltag>(params);
+ // ASSERT_TRUE(p->getTagFamily() == params->tag_family_);
+
params->tag_family_ = "wrong_family";
WOLF_INFO("The following runtime error \"Unrecognized tag family name. Use e.g. \"tag36h11\".\" is expected and does not imply a failed test:");
ASSERT_DEATH( { std::make_shared<ProcessorTrackerLandmarkApriltag>(params); }, "" );
--
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