From 658a6bc910aa960d9a7f857fd906dccef51d2ed7 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Joan=20Sol=C3=A0?= <jsola@iri.upc.edu>
Date: Sun, 17 Sep 2023 13:40:41 +0200
Subject: [PATCH] Fix obscure segfault in one test
---
test/gtest_feature_imu.cpp | 27 ++++++++++++---------------
1 file changed, 12 insertions(+), 15 deletions(-)
diff --git a/test/gtest_feature_imu.cpp b/test/gtest_feature_imu.cpp
index 2a1a09be3..e6f70029b 100644
--- a/test/gtest_feature_imu.cpp
+++ b/test/gtest_feature_imu.cpp
@@ -81,15 +81,13 @@ class FeatureImu_test : public testing::Test
origin_frame = problem->setPriorFactor(x0, s0, t);
processor_motion_ptr_->setOrigin(origin_frame);
- // Emplace one capture to store the Imu data arriving from (sensor / callback / file / etc.)
+ // Create one capture to store the Imu data arriving from (sensor / callback / file / etc.)
// give the capture a big covariance, otherwise it will be so small that it won't pass following assertions
- imu_ptr = std::static_pointer_cast<CaptureImu>(
- CaptureBase::emplace<CaptureImu>(origin_frame,
- t,
- sensor_ptr,
- data_,
- Eigen::Matrix6d::Identity(),
- Eigen::Vector6d::Zero().eval()) );
+ imu_ptr = std::make_shared<CaptureImu>( t,
+ sensor_ptr,
+ data_,
+ Eigen::Matrix6d::Identity(),
+ Eigen::Vector6d::Zero().eval());
//process data
data_ << 2, 0, 9.8, 0, 0, 0;
@@ -102,22 +100,21 @@ class FeatureImu_test : public testing::Test
// process data in capture
sensor_ptr->process(imu_ptr);
- //emplace Frame
- ts = problem->getTimeStamp();
- state_vec = problem->getState().vector(problem->getFrameStructure());
- last_frame = problem->emplaceFrame(ts, state_vec);
//emplace a feature
delta_preint = processor_motion_ptr_->getMotion().delta_integr_;
delta_preint_cov = processor_motion_ptr_->getMotion().delta_integr_cov_ + MatrixXd::Identity(9,9)*1e-08;
VectorXd calib_preint = processor_motion_ptr_->getLast()->getCalibrationPreint();
dD_db_jacobians = processor_motion_ptr_->getMotion().jacobian_calib_;
- feat_imu = FeatureBase::emplace<FeatureImu>(imu_ptr,
+ feat_imu = FeatureBase::emplace<FeatureImu>(processor_motion_ptr_->getOrigin(),
delta_preint,
delta_preint_cov,
calib_preint,
dD_db_jacobians,
- imu_ptr) ;
+ processor_motion_ptr_->getOrigin()) ;
+
+ problem->print(4,1,1,1);
+
}
void TearDown() override
@@ -155,7 +152,7 @@ TEST_F(FeatureImu_test, check_frame)
left_vptr = left_frame->getV();
ASSERT_MATRIX_APPROX(origin_pptr->getState(), left_pptr->getState(), wolf::Constants::EPS_SMALL);
- Eigen::Map<const Eigen::Quaterniond> origin_Quat(origin_optr->getState().data()), left_Quat(left_optr->getState().data());
+ Eigen::Quaterniond origin_Quat(origin_optr->getState().data()), left_Quat(left_optr->getState().data());
ASSERT_QUATERNION_APPROX(origin_Quat, left_Quat, wolf::Constants::EPS_SMALL);
ASSERT_MATRIX_APPROX(origin_vptr->getState(), left_vptr->getState(), wolf::Constants::EPS_SMALL);
--
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