From 2373bcfbe5d2b5846d0c9daac6c5c2f52e89f644 Mon Sep 17 00:00:00 2001
From: Joan Sola <jsola@iri.upc.edu>
Date: Fri, 23 Feb 2018 12:03:40 +0100
Subject: [PATCH] Tune processor dummy for better behavior in creating KFs and
generating long feature tracks
---
src/test/gtest_processor_base.cpp | 4 ++--
1 file changed, 2 insertions(+), 2 deletions(-)
diff --git a/src/test/gtest_processor_base.cpp b/src/test/gtest_processor_base.cpp
index 8be140846..e096f0846 100644
--- a/src/test/gtest_processor_base.cpp
+++ b/src/test/gtest_processor_base.cpp
@@ -194,7 +194,7 @@ TEST(ProcessorBase, KeyFrameCallback)
SensorBasePtr sen_tracker = make_shared<SensorBase>("FEATURE", std::make_shared<StateBlock>(Eigen::VectorXs::Zero(2)),
std::make_shared<StateBlock>(Eigen::VectorXs::Zero(1)),
std::make_shared<StateBlock>(Eigen::VectorXs::Zero(2)), 2);
- shared_ptr<ProcessorTrackerFeatureDummy> proc_tracker = make_shared<ProcessorTrackerFeatureDummy>(7, 4);
+ shared_ptr<ProcessorTrackerFeatureDummy> proc_tracker = make_shared<ProcessorTrackerFeatureDummy>(5, 5);
proc_tracker->setTimeTolerance(dt/2);
problem->addSensor(sen_tracker);
@@ -218,7 +218,7 @@ TEST(ProcessorBase, KeyFrameCallback)
CaptureOdom2DPtr capture_odo = make_shared<CaptureOdom2D>(t, sen_odo, Vector2s(0.5,0));
- for (size_t ii=0; ii<3; ii++ )
+ for (size_t ii=0; ii<20; ii++ )
{
// WOLF_DEBUG("iter:",ii," ts: ", t);
--
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