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Commit 113c70a6 authored by Joan Solà Ortega's avatar Joan Solà Ortega
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Move unit tests to gtest_KF_pack_buffer

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src/test/CMakeLists.txt
+ 4
− 0
View file @ 113c70a6
...@@ -64,6 +64,10 @@ target_link_libraries(gtest_frame_base ${PROJECT_NAME}) ...@@ -64,6 +64,10 @@ target_link_libraries(gtest_frame_base ${PROJECT_NAME})
wolf_add_gtest(gtest_imu_tools gtest_imu_tools.cpp) wolf_add_gtest(gtest_imu_tools gtest_imu_tools.cpp)
# target_link_libraries(gtest_imu_tools ${PROJECT_NAME}) // WOLF library not needed # target_link_libraries(gtest_imu_tools ${PROJECT_NAME}) // WOLF library not needed
# IMU tools test
wolf_add_gtest(gtest_KF_pack_buffer gtest_KF_pack_buffer.cpp)
target_link_libraries(gtest_KF_pack_buffer ${PROJECT_NAME})
# LocalParametrizationXxx classes test # LocalParametrizationXxx classes test
wolf_add_gtest(gtest_local_param gtest_local_param.cpp) wolf_add_gtest(gtest_local_param gtest_local_param.cpp)
target_link_libraries(gtest_local_param ${PROJECT_NAME}) target_link_libraries(gtest_local_param ${PROJECT_NAME})
......
src/test/gtest_KF_pack_buffer.cpp 0 → 100644
+ 182
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View file @ 113c70a6
/*
* gtest_KF_pack_buffer.cpp
*
* Created on: Mar 5, 2018
* Author: jsola
*/
//Wolf
#include "utils_gtest.h"
#include "processor_odom_2D.h"
#include "sensor_odom_2D.h"
#include "processor_tracker_feature_dummy.h"
#include "capture_void.h"
#include "problem.h"
// STL
#include <iterator>
#include <iostream>
using namespace wolf;
using namespace Eigen;
class KFPackBufferTest : public testing::Test
{
public:
KFPackBuffer kfpackbuffer;
FrameBasePtr f10, f20, f21, f28;
Scalar tt10, tt20, tt21, tt28;
TimeStamp timestamp;
Scalar timetolerance;
void SetUp(void)
{
f10 = std::make_shared<FrameBase>(TimeStamp(10),nullptr,nullptr,nullptr);
f20 = std::make_shared<FrameBase>(TimeStamp(20),nullptr,nullptr,nullptr);
f21 = std::make_shared<FrameBase>(TimeStamp(21),nullptr,nullptr,nullptr);
f28 = std::make_shared<FrameBase>(TimeStamp(28),nullptr,nullptr,nullptr);
tt10 = 1.0;
tt20 = 1.0;
tt21 = 1.0;
tt28 = 1.0;
};
};
TEST_F(KFPackBufferTest, empty)
{
ASSERT_TRUE(kfpackbuffer.empty());
}
TEST_F(KFPackBufferTest, add)
{
kfpackbuffer.add(f10, tt10);
ASSERT_EQ(kfpackbuffer.size(),1);
kfpackbuffer.add(f20, tt20);
ASSERT_EQ(kfpackbuffer.size(),2);
}
TEST_F(KFPackBufferTest, clear)
{
kfpackbuffer.add(f10, tt10);
kfpackbuffer.add(f20, tt20);
ASSERT_EQ(kfpackbuffer.size(),2);
kfpackbuffer.clear();
ASSERT_TRUE(kfpackbuffer.empty());
}
//TEST_F(KFPackBufferTest, print)
//{
// kfpackbuffer.clear();
// kfpackbuffer.add(f10, tt10);
// kfpackbuffer.add(f20, tt20);
// kfpackbuffer.print();
//}
TEST_F(KFPackBufferTest, checkTimeTolerance)
{
kfpackbuffer.clear();
kfpackbuffer.add(f10, tt10);
kfpackbuffer.add(f20, tt20);
// min time tolerance > diff between time stamps. It should return true
ASSERT_TRUE(kfpackbuffer.checkTimeTolerance(10, 20, 20, 20));
// min time tolerance < diff between time stamps. It should return true
ASSERT_FALSE(kfpackbuffer.checkTimeTolerance(10, 1, 20, 20));
}
TEST_F(KFPackBufferTest, selectPack)
{
// Evaluation using two packs (p1,p2)
// with different time tolerances (tp1,tp2)
// using a query pack (q) with also different time tolerances
// depending on these tolerances we will get one (p1) or the other (p2)
// packages from the buffer (res).
// This can be summarized in the table hereafter:
//
// p1 p2 q | resulting pack time stamp
// --------------------------------
// 2 2 2 | nullptr
// 2 2 5 | nullptr
// 2 2 7 | nullptr
// 2 7 2 | nullptr
// 2 7 5 | 20
// 2 7 7 | 20
// 7 2 2 | nullptr
// 7 2 5 | nullptr
// 7 2 7 | 10
// 7 7 2 | nullptr
// 7 7 5 | 20
// 7 7 7 | 20
kfpackbuffer.clear();
// input packages
std::vector<int> p1 = {2, 7}; // Pack 1 time tolerances
std::vector<int> p2 = {2, 7}; // Pack 2 time tolerances
std::vector<int> q = {2, 5, 7}; // Query pack time tolerances
// Solution matrix
Eigen::VectorXi res = Eigen::VectorXi::Zero(12);
res(4) = 20;
res(5) = 20;
res(8) = 10;
res(10) = 20;
res(11) = 20;
// test
for (auto ip1=0;ip1<p1.size();++ip1)
{
for (auto ip2=0;ip2<p2.size();++ip2)
{
kfpackbuffer.add(f10, p1[ip1]);
kfpackbuffer.add(f20, p2[ip2]);
for (auto iq=0;iq<q.size();++iq)
{
KFPackPtr packQ = kfpackbuffer.selectPack(16, q[iq]);
if (packQ!=nullptr)
ASSERT_EQ(packQ->key_frame->getTimeStamp(),res(ip1*6+ip2*3+iq));
}
kfpackbuffer.clear();
}
}
}
TEST_F(KFPackBufferTest, removeUpTo)
{
// Small time tolerance for all test asserts
Scalar tt = 0.1;
kfpackbuffer.clear();
kfpackbuffer.add(f10, tt10);
kfpackbuffer.add(f20, tt20);
kfpackbuffer.add(f21, tt21);
// it should remove f20 and f10, thus size should be 1 after removal
// Specifically, only f21 should remain
KFPackPtr pack20 = std::make_shared<KFPack>(f20,tt20);
kfpackbuffer.removeUpTo( pack20->key_frame->getTimeStamp() );
ASSERT_EQ(kfpackbuffer.size(),1);
ASSERT_TRUE(kfpackbuffer.selectPack(f10->getTimeStamp(),tt)==nullptr);
ASSERT_TRUE(kfpackbuffer.selectPack(f20->getTimeStamp(),tt)==nullptr);
ASSERT_TRUE(kfpackbuffer.selectPack(f21->getTimeStamp(),tt)!=nullptr);
// Chech removal of an imprecise time stamp
// Specifically, only f28 should remain
kfpackbuffer.add(f28, tt28);
ASSERT_EQ(kfpackbuffer.size(),2);
FrameBasePtr f22 = std::make_shared<FrameBase>(TimeStamp(22),nullptr,nullptr,nullptr);
KFPackPtr pack22 = std::make_shared<KFPack>(f22,5);
kfpackbuffer.removeUpTo( pack22->key_frame->getTimeStamp() );
ASSERT_EQ(kfpackbuffer.size(),1);
ASSERT_TRUE(kfpackbuffer.selectPack(f21->getTimeStamp(),tt)==nullptr);
ASSERT_TRUE(kfpackbuffer.selectPack(f28->getTimeStamp(),tt)!=nullptr);
}
int main(int argc, char **argv)
{
testing::InitGoogleTest(&argc, argv);
return RUN_ALL_TESTS();
}
src/test/gtest_processor_base.cpp
+ 2
− 153
View file @ 113c70a6
...@@ -23,158 +23,6 @@ ...@@ -23,158 +23,6 @@
using namespace wolf; using namespace wolf;
using namespace Eigen; using namespace Eigen;
class KFPackBufferTest : public testing::Test
{
public:
KFPackBuffer kfpackbuffer;
FrameBasePtr f10, f20, f21, f28;
Scalar tt10, tt20, tt21, tt28;
TimeStamp timestamp;
Scalar timetolerance;
void SetUp(void)
{
f10 = std::make_shared<FrameBase>(TimeStamp(10),nullptr,nullptr,nullptr);
f20 = std::make_shared<FrameBase>(TimeStamp(20),nullptr,nullptr,nullptr);
f21 = std::make_shared<FrameBase>(TimeStamp(21),nullptr,nullptr,nullptr);
f28 = std::make_shared<FrameBase>(TimeStamp(28),nullptr,nullptr,nullptr);
tt10 = 1.0;
tt20 = 1.0;
tt21 = 1.0;
tt28 = 1.0;
};
};
TEST_F(KFPackBufferTest, empty)
{
ASSERT_TRUE(kfpackbuffer.empty());
}
TEST_F(KFPackBufferTest, add)
{
kfpackbuffer.add(f10, tt10);
ASSERT_EQ(kfpackbuffer.size(),1);
kfpackbuffer.add(f20, tt20);
ASSERT_EQ(kfpackbuffer.size(),2);
}
TEST_F(KFPackBufferTest, clear)
{
kfpackbuffer.add(f10, tt10);
kfpackbuffer.add(f20, tt20);
ASSERT_EQ(kfpackbuffer.size(),2);
kfpackbuffer.clear();
ASSERT_TRUE(kfpackbuffer.empty());
}
//TEST_F(KFPackBufferTest, print)
//{
// kfpackbuffer.clear();
// kfpackbuffer.add(f10, tt10);
// kfpackbuffer.add(f20, tt20);
// kfpackbuffer.print();
//}
TEST_F(KFPackBufferTest, checkTimeTolerance)
{
kfpackbuffer.clear();
kfpackbuffer.add(f10, tt10);
kfpackbuffer.add(f20, tt20);
// min time tolerance > diff between time stamps. It should return true
ASSERT_TRUE(kfpackbuffer.checkTimeTolerance(10, 20, 20, 20));
// min time tolerance < diff between time stamps. It should return true
ASSERT_FALSE(kfpackbuffer.checkTimeTolerance(10, 1, 20, 20));
}
TEST_F(KFPackBufferTest, selectPack)
{
// Evaluation using two packs (p1,p2)
// with different time tolerances (tp1,tp2)
// using a query pack (q) with also different time tolerances
// depending on these tolerances we will get one (p1) or the other (p2)
// packages from the buffer (res).
// This can be summarized in the table hereafter:
//
// p1 p2 q | resulting pack time stamp
// --------------------------------
// 2 2 2 | nullptr
// 2 2 5 | nullptr
// 2 2 7 | nullptr
// 2 7 2 | nullptr
// 2 7 5 | 20
// 2 7 7 | 20
// 7 2 2 | nullptr
// 7 2 5 | nullptr
// 7 2 7 | 10
// 7 7 2 | nullptr
// 7 7 5 | 20
// 7 7 7 | 20
kfpackbuffer.clear();
// input packages
std::vector<int> p1 = {2, 7}; // Pack 1 time tolerances
std::vector<int> p2 = {2, 7}; // Pack 2 time tolerances
std::vector<int> q = {2, 5, 7}; // Query pack time tolerances
// Solution matrix
Eigen::VectorXi res = Eigen::VectorXi::Zero(12);
res(4) = 20;
res(5) = 20;
res(8) = 10;
res(10) = 20;
res(11) = 20;
// test
for (auto ip1=0;ip1<p1.size();++ip1)
{
for (auto ip2=0;ip2<p2.size();++ip2)
{
kfpackbuffer.add(f10, p1[ip1]);
kfpackbuffer.add(f20, p2[ip2]);
for (auto iq=0;iq<q.size();++iq)
{
KFPackPtr packQ = kfpackbuffer.selectPack(16, q[iq]);
if (packQ!=nullptr)
ASSERT_EQ(packQ->key_frame->getTimeStamp(),res(ip1*6+ip2*3+iq));
}
kfpackbuffer.clear();
}
}
}
TEST_F(KFPackBufferTest, removeUpTo)
{
// Small time tolerance for all test asserts
Scalar tt = 0.1;
kfpackbuffer.clear();
kfpackbuffer.add(f10, tt10);
kfpackbuffer.add(f20, tt20);
kfpackbuffer.add(f21, tt21);
// it should remove f20 and f10, thus size should be 1 after removal
// Specifically, only f21 should remain
KFPackPtr pack20 = std::make_shared<KFPack>(f20,tt20);
kfpackbuffer.removeUpTo( pack20->key_frame->getTimeStamp() );
ASSERT_EQ(kfpackbuffer.size(),1);
ASSERT_TRUE(kfpackbuffer.selectPack(f10->getTimeStamp(),tt)==nullptr);
ASSERT_TRUE(kfpackbuffer.selectPack(f20->getTimeStamp(),tt)==nullptr);
ASSERT_TRUE(kfpackbuffer.selectPack(f21->getTimeStamp(),tt)!=nullptr);
// Chech removal of an imprecise time stamp
// Specifically, only f28 should remain
kfpackbuffer.add(f28, tt28);
ASSERT_EQ(kfpackbuffer.size(),2);
FrameBasePtr f22 = std::make_shared<FrameBase>(TimeStamp(22),nullptr,nullptr,nullptr);
KFPackPtr pack22 = std::make_shared<KFPack>(f22,5);
kfpackbuffer.removeUpTo( pack22->key_frame->getTimeStamp() );
ASSERT_EQ(kfpackbuffer.size(),1);
ASSERT_TRUE(kfpackbuffer.selectPack(f21->getTimeStamp(),tt)==nullptr);
ASSERT_TRUE(kfpackbuffer.selectPack(f28->getTimeStamp(),tt)!=nullptr);
}
TEST(ProcessorBase, KeyFrameCallback) TEST(ProcessorBase, KeyFrameCallback)
{ {
...@@ -226,6 +74,8 @@ TEST(ProcessorBase, KeyFrameCallback) ...@@ -226,6 +74,8 @@ TEST(ProcessorBase, KeyFrameCallback)
{ {
// Move // Move
t = t+dt; t = t+dt;
WOLF_INFO("----------------------- ts: ", t , " --------------------------");
capt_odo->setTimeStamp(t); capt_odo->setTimeStamp(t);
proc_odo->process(capt_odo); proc_odo->process(capt_odo);
...@@ -234,7 +84,6 @@ TEST(ProcessorBase, KeyFrameCallback) ...@@ -234,7 +84,6 @@ TEST(ProcessorBase, KeyFrameCallback)
proc_trk->process(capt_trk); proc_trk->process(capt_trk);
// problem->print(4,1,1,0); // problem->print(4,1,1,0);
WOLF_INFO("-------------------------------------------------");
// Only odom creating KFs // Only odom creating KFs
ASSERT_TRUE( problem->getLastKeyFramePtr()->getType().compare("PO 2D")==0 ); ASSERT_TRUE( problem->getLastKeyFramePtr()->getType().compare("PO 2D")==0 );
......
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