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Commit e6b5ca27 authored by Joaquim Casals Buñuel's avatar Joaquim Casals Buñuel
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Quick fix due to refactor in core

parent 075a53e6
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Showing with 19 additions and 19 deletions
...@@ -21,7 +21,7 @@ int main() ...@@ -21,7 +21,7 @@ int main()
//===================================================== //=====================================================
// Wolf problem // Wolf problem
ProblemPtr wolf_problem_ptr_ = Problem::create("PO 3D"); ProblemPtr wolf_problem_ptr_ = Problem::create("PO", 3);
/* Do this while there aren't extrinsic parameters on the yaml */ /* Do this while there aren't extrinsic parameters on the yaml */
Eigen::Vector7s extrinsic_cam; Eigen::Vector7s extrinsic_cam;
......
...@@ -52,7 +52,7 @@ int main(int argc, char** argv) ...@@ -52,7 +52,7 @@ int main(int argc, char** argv)
std::string wolf_root = _WOLF_ROOT_DIR; std::string wolf_root = _WOLF_ROOT_DIR;
std::cout << "Wolf root: " << wolf_root << std::endl; std::cout << "Wolf root: " << wolf_root << std::endl;
ProblemPtr wolf_problem_ = Problem::create("PO 3D"); ProblemPtr wolf_problem_ = Problem::create("PO", 3);
//===================================================== //=====================================================
// Method 1: Use data generated here for sensor and processor // Method 1: Use data generated here for sensor and processor
......
...@@ -40,7 +40,7 @@ int main (int argc, char** argv) ...@@ -40,7 +40,7 @@ int main (int argc, char** argv)
} }
cout << "Final timestamp tf = " << tf.get() << " s" << endl; cout << "Final timestamp tf = " << tf.get() << " s" << endl;
ProblemPtr problem = Problem::create("PO 3D"); ProblemPtr problem = Problem::create("PO", 3);
ceres::Solver::Options ceres_options; ceres::Solver::Options ceres_options;
// ceres_options.max_num_iterations = 1000; // ceres_options.max_num_iterations = 1000;
// ceres_options.function_tolerance = 1e-10; // ceres_options.function_tolerance = 1e-10;
......
...@@ -80,7 +80,7 @@ int main(int argc, char** argv) ...@@ -80,7 +80,7 @@ int main(int argc, char** argv)
//===================================================== //=====================================================
// Wolf problem // Wolf problem
ProblemPtr problem = Problem::create("PO 3D"); ProblemPtr problem = Problem::create("PO", 3);
// ODOM SENSOR AND PROCESSOR // ODOM SENSOR AND PROCESSOR
SensorBasePtr sensor_base = problem->installSensor("ODOM 3D", "odom", (Vector7s()<<0,0,0,0,0,0,1).finished(), wolf_root + "/src/examples/sensor_odom_3D.yaml"); SensorBasePtr sensor_base = problem->installSensor("ODOM 3D", "odom", (Vector7s()<<0,0,0,0,0,0,1).finished(), wolf_root + "/src/examples/sensor_odom_3D.yaml");
......
...@@ -95,7 +95,7 @@ int main(int argc, char** argv) ...@@ -95,7 +95,7 @@ int main(int argc, char** argv)
// ============================================================================================================ // ============================================================================================================
/* 1 */ /* 1 */
ProblemPtr problem = Problem::create("PO 3D"); ProblemPtr problem = Problem::create("PO", 3);
// One anchor frame to define the lmk, and a copy to make a factor // One anchor frame to define the lmk, and a copy to make a factor
FrameBasePtr kf_1 = problem->emplaceFrame(KEY,(Vector7s()<<0,0,0,0,0,0,1).finished(), TimeStamp(0)); FrameBasePtr kf_1 = problem->emplaceFrame(KEY,(Vector7s()<<0,0,0,0,0,0,1).finished(), TimeStamp(0));
FrameBasePtr kf_2 = problem->emplaceFrame(KEY,(Vector7s()<<0,0,0,0,0,0,1).finished(), TimeStamp(0)); FrameBasePtr kf_2 = problem->emplaceFrame(KEY,(Vector7s()<<0,0,0,0,0,0,1).finished(), TimeStamp(0));
......
...@@ -84,7 +84,7 @@ int main(int argc, char** argv) ...@@ -84,7 +84,7 @@ int main(int argc, char** argv)
// =============================================== // ===============================================
// Wolf problem // Wolf problem
ProblemPtr problem = Problem::create("PO 3D"); ProblemPtr problem = Problem::create("PO", 3);
// CERES WRAPPER // CERES WRAPPER
CeresManagerPtr ceres_manager; CeresManagerPtr ceres_manager;
......
...@@ -543,7 +543,7 @@ TEST(CeresManager, AddLocalParam) ...@@ -543,7 +543,7 @@ TEST(CeresManager, AddLocalParam)
TEST(CeresManager, FactorsRemoveLocalParam) TEST(CeresManager, FactorsRemoveLocalParam)
{ {
ProblemPtr P = Problem::create("PO 3D"); ProblemPtr P = Problem::create("PO", 3);
CeresManagerWrapperPtr ceres_manager_ptr = std::make_shared<CeresManagerWrapper>(P); CeresManagerWrapperPtr ceres_manager_ptr = std::make_shared<CeresManagerWrapper>(P);
// Create (and add) 2 factors quaternion // Create (and add) 2 factors quaternion
...@@ -585,7 +585,7 @@ TEST(CeresManager, FactorsRemoveLocalParam) ...@@ -585,7 +585,7 @@ TEST(CeresManager, FactorsRemoveLocalParam)
TEST(CeresManager, FactorsUpdateLocalParam) TEST(CeresManager, FactorsUpdateLocalParam)
{ {
ProblemPtr P = Problem::create("PO 3D"); ProblemPtr P = Problem::create("PO", 3);
CeresManagerWrapperPtr ceres_manager_ptr = std::make_shared<CeresManagerWrapper>(P); CeresManagerWrapperPtr ceres_manager_ptr = std::make_shared<CeresManagerWrapper>(P);
// Create (and add) 2 factors quaternion // Create (and add) 2 factors quaternion
......
...@@ -52,7 +52,7 @@ class FactorAutodiffDistance3D_Test : public testing::Test ...@@ -52,7 +52,7 @@ class FactorAutodiffDistance3D_Test : public testing::Test
dist = Vector1s(sqrt(2.0)); dist = Vector1s(sqrt(2.0));
dist_cov = Matrix1s(0.01); dist_cov = Matrix1s(0.01);
problem = Problem::create("PO 3D"); problem = Problem::create("PO", 3);
ceres_manager = std::make_shared<CeresManager>(problem); ceres_manager = std::make_shared<CeresManager>(problem);
F1 = problem->emplaceFrame (KEY, pose1, 1.0); F1 = problem->emplaceFrame (KEY, pose1, 1.0);
......
...@@ -119,7 +119,7 @@ class FactorAutodiffTrifocalTest : public testing::Test{ ...@@ -119,7 +119,7 @@ class FactorAutodiffTrifocalTest : public testing::Test{
pose_cam << pos_cam, vquat_cam; pose_cam << pos_cam, vquat_cam;
// Build problem // Build problem
problem = Problem::create("PO 3D"); problem = Problem::create("PO", 3);
ceres::Solver::Options options; ceres::Solver::Options options;
ceres_manager = std::make_shared<CeresManager>(problem, options); ceres_manager = std::make_shared<CeresManager>(problem, options);
......
...@@ -33,7 +33,7 @@ Vector7s x0 = data2delta(Vector6s::Random()*0.25); ...@@ -33,7 +33,7 @@ Vector7s x0 = data2delta(Vector6s::Random()*0.25);
Vector7s x1 = data2delta(data + Vector6s::Random()*0.25); Vector7s x1 = data2delta(data + Vector6s::Random()*0.25);
// Problem and solver // Problem and solver
ProblemPtr problem_ptr = Problem::create("PO 3D"); ProblemPtr problem_ptr = Problem::create("PO", 3);
CeresManager ceres_mgr(problem_ptr); CeresManager ceres_mgr(problem_ptr);
// Two frames // Two frames
......
...@@ -32,7 +32,7 @@ Matrix6s data_cov = data_var.asDiagonal(); ...@@ -32,7 +32,7 @@ Matrix6s data_cov = data_var.asDiagonal();
Vector7s x0 = pose6toPose7(pose + Vector6s::Random()*0.25); Vector7s x0 = pose6toPose7(pose + Vector6s::Random()*0.25);
// Problem and solver // Problem and solver
ProblemPtr problem = Problem::create("PO 3D"); ProblemPtr problem = Problem::create("PO", 3);
CeresManager ceres_mgr(problem); CeresManager ceres_mgr(problem);
// Two frames // Two frames
......
...@@ -16,7 +16,7 @@ ...@@ -16,7 +16,7 @@
using namespace wolf; using namespace wolf;
ProblemPtr problem_ptr = Problem::create("PO 3D"); ProblemPtr problem_ptr = Problem::create("PO", 3);
CeresManagerPtr ceres_mgr_ptr = std::make_shared<CeresManager>(problem_ptr); CeresManagerPtr ceres_mgr_ptr = std::make_shared<CeresManager>(problem_ptr);
Eigen::Vector7s initial_extrinsics((Eigen::Vector7s() << 1, 2, 3, 1, 0, 0, 0).finished()); Eigen::Vector7s initial_extrinsics((Eigen::Vector7s() << 1, 2, 3, 1, 0, 0, 0).finished());
Eigen::Vector7s prior_extrinsics((Eigen::Vector7s() << 10, 20, 30, 0, 0, 0, 1).finished()); Eigen::Vector7s prior_extrinsics((Eigen::Vector7s() << 10, 20, 30, 0, 0, 0, 1).finished());
......
...@@ -74,7 +74,7 @@ TEST(Problem, Sensors) ...@@ -74,7 +74,7 @@ TEST(Problem, Sensors)
TEST(Problem, Processor) TEST(Problem, Processor)
{ {
ProblemPtr P = Problem::create("PO 3D"); ProblemPtr P = Problem::create("PO", 3);
// check motion processor is null // check motion processor is null
ASSERT_FALSE(P->getProcessorMotion()); ASSERT_FALSE(P->getProcessorMotion());
...@@ -99,7 +99,7 @@ TEST(Problem, Processor) ...@@ -99,7 +99,7 @@ TEST(Problem, Processor)
TEST(Problem, Installers) TEST(Problem, Installers)
{ {
std::string wolf_root = _WOLF_ROOT_DIR; std::string wolf_root = _WOLF_ROOT_DIR;
ProblemPtr P = Problem::create("PO 3D"); ProblemPtr P = Problem::create("PO", 3);
Eigen::Vector7s xs; Eigen::Vector7s xs;
SensorBasePtr S = P->installSensor ("ODOM 3D", "odometer", xs, wolf_root + "/src/examples/sensor_odom_3D.yaml"); SensorBasePtr S = P->installSensor ("ODOM 3D", "odometer", xs, wolf_root + "/src/examples/sensor_odom_3D.yaml");
...@@ -164,7 +164,7 @@ TEST(Problem, SetOrigin_PO_2D) ...@@ -164,7 +164,7 @@ TEST(Problem, SetOrigin_PO_2D)
TEST(Problem, SetOrigin_PO_3D) TEST(Problem, SetOrigin_PO_3D)
{ {
ProblemPtr P = Problem::create("PO 3D"); ProblemPtr P = Problem::create("PO", 3);
TimeStamp t0(0); TimeStamp t0(0);
Eigen::VectorXs x0(7); x0 << 1,2,3,4,5,6,7; Eigen::VectorXs x0(7); x0 << 1,2,3,4,5,6,7;
Eigen::MatrixXs P0(6,6); P0.setIdentity(); P0 *= 0.1; // P0 is 0.1*Id Eigen::MatrixXs P0(6,6); P0.setIdentity(); P0 *= 0.1; // P0 is 0.1*Id
...@@ -228,7 +228,7 @@ TEST(Problem, StateBlocks) ...@@ -228,7 +228,7 @@ TEST(Problem, StateBlocks)
{ {
std::string wolf_root = _WOLF_ROOT_DIR; std::string wolf_root = _WOLF_ROOT_DIR;
ProblemPtr P = Problem::create("PO 3D"); ProblemPtr P = Problem::create("PO", 3);
Eigen::Vector7s xs; Eigen::Vector7s xs;
// 2 state blocks, fixed // 2 state blocks, fixed
...@@ -289,7 +289,7 @@ TEST(Problem, Covariances) ...@@ -289,7 +289,7 @@ TEST(Problem, Covariances)
{ {
std::string wolf_root = _WOLF_ROOT_DIR; std::string wolf_root = _WOLF_ROOT_DIR;
ProblemPtr P = Problem::create("PO 3D"); ProblemPtr P = Problem::create("PO", 3);
Eigen::Vector7s xs; Eigen::Vector7s xs;
SensorBasePtr Sm = P->installSensor ("ODOM 3D", "odometer",xs, wolf_root + "/src/examples/sensor_odom_3D.yaml"); SensorBasePtr Sm = P->installSensor ("ODOM 3D", "odometer",xs, wolf_root + "/src/examples/sensor_odom_3D.yaml");
......
...@@ -71,7 +71,7 @@ TEST(ProcessorTrackerFeatureTrifocal, KeyFrameCallback) ...@@ -71,7 +71,7 @@ TEST(ProcessorTrackerFeatureTrifocal, KeyFrameCallback)
Scalar dt = 0.01; Scalar dt = 0.01;
// Wolf problem // Wolf problem
ProblemPtr problem = Problem::create("PO 3D"); ProblemPtr problem = Problem::create("PO", 3);
// Install tracker (sensor and processor) // Install tracker (sensor and processor)
IntrinsicsCameraPtr intr = make_shared<IntrinsicsCamera>(); // TODO init params or read from YAML IntrinsicsCameraPtr intr = make_shared<IntrinsicsCamera>(); // TODO init params or read from YAML
......
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