From e6b5ca27514aa127212d2e8241c395737a3c77b1 Mon Sep 17 00:00:00 2001
From: Joaquim Casals <jcasals@iri.upc.edu>
Date: Wed, 8 May 2019 16:30:45 +0200
Subject: [PATCH] Quick fix due to refactor in core
---
src/examples/test_factor_AHP.cpp | 2 +-
src/examples/test_image.cpp | 2 +-
src/examples/test_processor_odom_3D.cpp | 2 +-
src/examples/test_processor_tracker_landmark_image.cpp | 2 +-
src/examples/test_simple_AHP.cpp | 2 +-
src/examples/test_trifocal_optimization.cpp | 2 +-
test/gtest_ceres_manager.cpp | 4 ++--
test/gtest_factor_autodiff_distance_3D.cpp | 2 +-
test/gtest_factor_autodiff_trifocal.cpp | 2 +-
test/gtest_factor_odom_3D.cpp | 2 +-
test/gtest_factor_pose_3D.cpp | 2 +-
test/gtest_param_prior.cpp | 2 +-
test/gtest_problem.cpp | 10 +++++-----
test/gtest_processor_tracker_feature_trifocal.cpp | 2 +-
14 files changed, 19 insertions(+), 19 deletions(-)
diff --git a/src/examples/test_factor_AHP.cpp b/src/examples/test_factor_AHP.cpp
index 10c7610ca..8509ff7f5 100644
--- a/src/examples/test_factor_AHP.cpp
+++ b/src/examples/test_factor_AHP.cpp
@@ -21,7 +21,7 @@ int main()
//=====================================================
// 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 */
Eigen::Vector7s extrinsic_cam;
diff --git a/src/examples/test_image.cpp b/src/examples/test_image.cpp
index 842a6a14b..3997b9476 100644
--- a/src/examples/test_image.cpp
+++ b/src/examples/test_image.cpp
@@ -52,7 +52,7 @@ int main(int argc, char** argv)
std::string wolf_root = _WOLF_ROOT_DIR;
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
diff --git a/src/examples/test_processor_odom_3D.cpp b/src/examples/test_processor_odom_3D.cpp
index 8103a7ff3..7cfae793d 100644
--- a/src/examples/test_processor_odom_3D.cpp
+++ b/src/examples/test_processor_odom_3D.cpp
@@ -40,7 +40,7 @@ int main (int argc, char** argv)
}
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_options.max_num_iterations = 1000;
// ceres_options.function_tolerance = 1e-10;
diff --git a/src/examples/test_processor_tracker_landmark_image.cpp b/src/examples/test_processor_tracker_landmark_image.cpp
index 1bd2ef178..e8767c4f6 100644
--- a/src/examples/test_processor_tracker_landmark_image.cpp
+++ b/src/examples/test_processor_tracker_landmark_image.cpp
@@ -80,7 +80,7 @@ int main(int argc, char** argv)
//=====================================================
// Wolf problem
- ProblemPtr problem = Problem::create("PO 3D");
+ ProblemPtr problem = Problem::create("PO", 3);
// 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");
diff --git a/src/examples/test_simple_AHP.cpp b/src/examples/test_simple_AHP.cpp
index 5d374dc05..f4316cb07 100644
--- a/src/examples/test_simple_AHP.cpp
+++ b/src/examples/test_simple_AHP.cpp
@@ -95,7 +95,7 @@ int main(int argc, char** argv)
// ============================================================================================================
/* 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
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));
diff --git a/src/examples/test_trifocal_optimization.cpp b/src/examples/test_trifocal_optimization.cpp
index 007bc39d9..dcb6d93bf 100644
--- a/src/examples/test_trifocal_optimization.cpp
+++ b/src/examples/test_trifocal_optimization.cpp
@@ -84,7 +84,7 @@ int main(int argc, char** argv)
// ===============================================
// Wolf problem
- ProblemPtr problem = Problem::create("PO 3D");
+ ProblemPtr problem = Problem::create("PO", 3);
// CERES WRAPPER
CeresManagerPtr ceres_manager;
diff --git a/test/gtest_ceres_manager.cpp b/test/gtest_ceres_manager.cpp
index d65664368..756e44fde 100644
--- a/test/gtest_ceres_manager.cpp
+++ b/test/gtest_ceres_manager.cpp
@@ -543,7 +543,7 @@ TEST(CeresManager, AddLocalParam)
TEST(CeresManager, FactorsRemoveLocalParam)
{
- ProblemPtr P = Problem::create("PO 3D");
+ ProblemPtr P = Problem::create("PO", 3);
CeresManagerWrapperPtr ceres_manager_ptr = std::make_shared<CeresManagerWrapper>(P);
// Create (and add) 2 factors quaternion
@@ -585,7 +585,7 @@ TEST(CeresManager, FactorsRemoveLocalParam)
TEST(CeresManager, FactorsUpdateLocalParam)
{
- ProblemPtr P = Problem::create("PO 3D");
+ ProblemPtr P = Problem::create("PO", 3);
CeresManagerWrapperPtr ceres_manager_ptr = std::make_shared<CeresManagerWrapper>(P);
// Create (and add) 2 factors quaternion
diff --git a/test/gtest_factor_autodiff_distance_3D.cpp b/test/gtest_factor_autodiff_distance_3D.cpp
index 49461b9f1..f5251d7f1 100644
--- a/test/gtest_factor_autodiff_distance_3D.cpp
+++ b/test/gtest_factor_autodiff_distance_3D.cpp
@@ -52,7 +52,7 @@ class FactorAutodiffDistance3D_Test : public testing::Test
dist = Vector1s(sqrt(2.0));
dist_cov = Matrix1s(0.01);
- problem = Problem::create("PO 3D");
+ problem = Problem::create("PO", 3);
ceres_manager = std::make_shared<CeresManager>(problem);
F1 = problem->emplaceFrame (KEY, pose1, 1.0);
diff --git a/test/gtest_factor_autodiff_trifocal.cpp b/test/gtest_factor_autodiff_trifocal.cpp
index 0d244f714..0ba635bb2 100644
--- a/test/gtest_factor_autodiff_trifocal.cpp
+++ b/test/gtest_factor_autodiff_trifocal.cpp
@@ -119,7 +119,7 @@ class FactorAutodiffTrifocalTest : public testing::Test{
pose_cam << pos_cam, vquat_cam;
// Build problem
- problem = Problem::create("PO 3D");
+ problem = Problem::create("PO", 3);
ceres::Solver::Options options;
ceres_manager = std::make_shared<CeresManager>(problem, options);
diff --git a/test/gtest_factor_odom_3D.cpp b/test/gtest_factor_odom_3D.cpp
index fbf9fa6ca..75d4d71db 100644
--- a/test/gtest_factor_odom_3D.cpp
+++ b/test/gtest_factor_odom_3D.cpp
@@ -33,7 +33,7 @@ Vector7s x0 = data2delta(Vector6s::Random()*0.25);
Vector7s x1 = data2delta(data + Vector6s::Random()*0.25);
// Problem and solver
-ProblemPtr problem_ptr = Problem::create("PO 3D");
+ProblemPtr problem_ptr = Problem::create("PO", 3);
CeresManager ceres_mgr(problem_ptr);
// Two frames
diff --git a/test/gtest_factor_pose_3D.cpp b/test/gtest_factor_pose_3D.cpp
index db43f6098..15458655d 100644
--- a/test/gtest_factor_pose_3D.cpp
+++ b/test/gtest_factor_pose_3D.cpp
@@ -32,7 +32,7 @@ Matrix6s data_cov = data_var.asDiagonal();
Vector7s x0 = pose6toPose7(pose + Vector6s::Random()*0.25);
// Problem and solver
-ProblemPtr problem = Problem::create("PO 3D");
+ProblemPtr problem = Problem::create("PO", 3);
CeresManager ceres_mgr(problem);
// Two frames
diff --git a/test/gtest_param_prior.cpp b/test/gtest_param_prior.cpp
index 7af68fa02..e5ddb8653 100644
--- a/test/gtest_param_prior.cpp
+++ b/test/gtest_param_prior.cpp
@@ -16,7 +16,7 @@
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);
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());
diff --git a/test/gtest_problem.cpp b/test/gtest_problem.cpp
index a3ce78867..9e598efc4 100644
--- a/test/gtest_problem.cpp
+++ b/test/gtest_problem.cpp
@@ -74,7 +74,7 @@ TEST(Problem, Sensors)
TEST(Problem, Processor)
{
- ProblemPtr P = Problem::create("PO 3D");
+ ProblemPtr P = Problem::create("PO", 3);
// check motion processor is null
ASSERT_FALSE(P->getProcessorMotion());
@@ -99,7 +99,7 @@ TEST(Problem, Processor)
TEST(Problem, Installers)
{
std::string wolf_root = _WOLF_ROOT_DIR;
- ProblemPtr P = Problem::create("PO 3D");
+ ProblemPtr P = Problem::create("PO", 3);
Eigen::Vector7s xs;
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)
TEST(Problem, SetOrigin_PO_3D)
{
- ProblemPtr P = Problem::create("PO 3D");
+ ProblemPtr P = Problem::create("PO", 3);
TimeStamp t0(0);
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
@@ -228,7 +228,7 @@ TEST(Problem, StateBlocks)
{
std::string wolf_root = _WOLF_ROOT_DIR;
- ProblemPtr P = Problem::create("PO 3D");
+ ProblemPtr P = Problem::create("PO", 3);
Eigen::Vector7s xs;
// 2 state blocks, fixed
@@ -289,7 +289,7 @@ TEST(Problem, Covariances)
{
std::string wolf_root = _WOLF_ROOT_DIR;
- ProblemPtr P = Problem::create("PO 3D");
+ ProblemPtr P = Problem::create("PO", 3);
Eigen::Vector7s xs;
SensorBasePtr Sm = P->installSensor ("ODOM 3D", "odometer",xs, wolf_root + "/src/examples/sensor_odom_3D.yaml");
diff --git a/test/gtest_processor_tracker_feature_trifocal.cpp b/test/gtest_processor_tracker_feature_trifocal.cpp
index 383497929..54940654b 100644
--- a/test/gtest_processor_tracker_feature_trifocal.cpp
+++ b/test/gtest_processor_tracker_feature_trifocal.cpp
@@ -71,7 +71,7 @@ TEST(ProcessorTrackerFeatureTrifocal, KeyFrameCallback)
Scalar dt = 0.01;
// Wolf problem
- ProblemPtr problem = Problem::create("PO 3D");
+ ProblemPtr problem = Problem::create("PO", 3);
// Install tracker (sensor and processor)
IntrinsicsCameraPtr intr = make_shared<IntrinsicsCamera>(); // TODO init params or read from YAML
--
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