From 2de90a112cf0465fdc1fa70b53df8937981e898e Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Joan=20Sol=C3=A0?= <jsola@iri.upc.edu>
Date: Tue, 19 Sep 2023 09:02:31 +0200
Subject: [PATCH] Format using clang-format
---
...ssor_tracker_two_processors_one_sensor.cpp | 175 +++++++++++-------
1 file changed, 104 insertions(+), 71 deletions(-)
diff --git a/test/gtest_processor_tracker_two_processors_one_sensor.cpp b/test/gtest_processor_tracker_two_processors_one_sensor.cpp
index 620e03d11..e2c7b6908 100644
--- a/test/gtest_processor_tracker_two_processors_one_sensor.cpp
+++ b/test/gtest_processor_tracker_two_processors_one_sensor.cpp
@@ -33,79 +33,113 @@ WOLF_PTR_TYPEDEFS(ProcessorTrackerFeatureDummyDummy);
class ProcessorTrackerFeatureDummyDummy : public ProcessorTrackerFeatureDummy
{
- public:
-
- ProcessorTrackerFeatureDummyDummy(ParamsProcessorTrackerFeatureDummyPtr& _params) :
- ProcessorTrackerFeatureDummy(_params){}
-
- void setLast(CaptureBasePtr _last_ptr){ last_ptr_ = _last_ptr; }
- void setInc(CaptureBasePtr _incoming_ptr){ incoming_ptr_ = _incoming_ptr; }
+ public:
+ ProcessorTrackerFeatureDummyDummy(ParamsProcessorTrackerFeatureDummyPtr& _params)
+ : ProcessorTrackerFeatureDummy(_params)
+ {
+ }
- unsigned int callProcessKnown(){ return this->processKnown(); }
+ void setLast(CaptureBasePtr _last_ptr)
+ {
+ last_ptr_ = _last_ptr;
+ }
+ void setInc(CaptureBasePtr _incoming_ptr)
+ {
+ incoming_ptr_ = _incoming_ptr;
+ }
- unsigned int callProcessNew(const int& _max_new_features){ return this->processNew(_max_new_features); }
+ unsigned int callProcessKnown()
+ {
+ return this->processKnown();
+ }
- unsigned int callDetectNewFeatures(const int& _max_features,
- const CaptureBasePtr& _capture,
- FeatureBasePtrList& _features_out){ return this->detectNewFeatures(_max_features, _capture, _features_out); }
+ unsigned int callProcessNew(const int& _max_new_features)
+ {
+ return this->processNew(_max_new_features);
+ }
- unsigned int callTrackFeatures(const FeatureBasePtrList& _features_in,
+ unsigned int callDetectNewFeatures(const int& _max_features,
const CaptureBasePtr& _capture,
- FeatureBasePtrList& _features_out,
- FeatureMatchMap& _feature_correspondences){ return this->trackFeatures(_features_in, _capture, _features_out, _feature_correspondences); }
+ FeatureBasePtrList& _features_out)
+ {
+ return this->detectNewFeatures(_max_features, _capture, _features_out);
+ }
- FactorBasePtr callEmplaceFactor(FeatureBasePtr _feature_ptr, FeatureBasePtr _feature_other_ptr){ return this->emplaceFactor(_feature_ptr, _feature_other_ptr); }
+ unsigned int callTrackFeatures(const FeatureBasePtrList& _features_in,
+ const CaptureBasePtr& _capture,
+ FeatureBasePtrList& _features_out,
+ FeatureMatchMap& _feature_correspondences)
+ {
+ return this->trackFeatures(_features_in, _capture, _features_out, _feature_correspondences);
+ }
- void callEstablishFactors(){ this->establishFactors();}
+ FactorBasePtr callEmplaceFactor(FeatureBasePtr _feature_ptr, FeatureBasePtr _feature_other_ptr)
+ {
+ return this->emplaceFactor(_feature_ptr, _feature_other_ptr);
+ }
- TrackMatrix getTrackMatrix(){ return track_matrix_; }
+ void callEstablishFactors()
+ {
+ this->establishFactors();
+ }
- FeatureMatchMap getMatchesLastFromIncoming() { return matches_last_from_incoming_; }
+ TrackMatrix getTrackMatrix()
+ {
+ return track_matrix_;
+ }
- void callReset()
- {
- this->resetDerived();
- origin_ptr_ = last_ptr_;
- last_ptr_ = incoming_ptr_;
- incoming_ptr_ = nullptr;
- };
+ FeatureMatchMap getMatchesLastFromIncoming()
+ {
+ return matches_last_from_incoming_;
+ }
+
+ void callReset()
+ {
+ this->resetDerived();
+ origin_ptr_ = last_ptr_;
+ last_ptr_ = incoming_ptr_;
+ incoming_ptr_ = nullptr;
+ };
};
// Use the following in case you want to initialize tests with predefines variables or methods.
class ProcessorTrackerFeatureDummyDoubledTest : public testing::Test
{
- public:
- ProblemPtr problem;
- SensorBasePtr sensor;
- ParamsProcessorTrackerFeatureDummyPtr params;
- ProcessorTrackerFeatureDummyDummyPtr processor_1, processor_2;
-
- // ~ProcessorTrackerFeatureDummyDoubledTest() override{}
-
- void SetUp() override
- {
- // Wolf problem
- problem = Problem::create("PO", 2);
-
- // Install camera
- sensor = problem->installSensor("SensorOdom2d", "dummy sensor", (Eigen::Vector3d() << 0,0,0).finished(), std::make_shared<ParamsSensorBase>());
-
- // Install processor
- params = std::make_shared<ParamsProcessorTrackerFeatureDummy>();
- params->max_new_features = 10;
- params->min_features_for_keyframe = 7;
- params->time_tolerance = 0.5;
- params->voting_active = true;
- params->n_tracks_lost = 2; // 1 (the first) track is lost each time trackFeatures is called
- processor_1 = std::make_shared<ProcessorTrackerFeatureDummyDummy>(params);
- processor_1->setName("Processor 1");
- processor_1->link(sensor);
- processor_2 = std::make_shared<ProcessorTrackerFeatureDummyDummy>(params);
- processor_2->setName("Processor 2");
- processor_2->link(sensor);
-
- problem->print(4,1,1,1);
- }
+ public:
+ ProblemPtr problem;
+ SensorBasePtr sensor;
+ ParamsProcessorTrackerFeatureDummyPtr params;
+ ProcessorTrackerFeatureDummyDummyPtr processor_1, processor_2;
+
+ // ~ProcessorTrackerFeatureDummyDoubledTest() override{}
+
+ void SetUp() override
+ {
+ // Wolf problem
+ problem = Problem::create("PO", 2);
+
+ // Install camera
+ sensor = problem->installSensor("SensorOdom2d",
+ "dummy sensor",
+ (Eigen::Vector3d() << 0, 0, 0).finished(),
+ std::make_shared<ParamsSensorBase>());
+
+ // Install processor
+ params = std::make_shared<ParamsProcessorTrackerFeatureDummy>();
+ params->max_new_features = 10;
+ params->min_features_for_keyframe = 7;
+ params->time_tolerance = 0.5;
+ params->voting_active = true;
+ params->n_tracks_lost = 2; // 1 (the first) track is lost each time trackFeatures is called
+ processor_1 = std::make_shared<ProcessorTrackerFeatureDummyDummy>(params);
+ processor_1->setName("Processor 1");
+ processor_1->link(sensor);
+ processor_2 = std::make_shared<ProcessorTrackerFeatureDummyDummy>(params);
+ processor_2->setName("Processor 2");
+ processor_2->link(sensor);
+
+ problem->print(4, 1, 1, 1);
+ }
};
// TEST_F(ProcessorTrackerFeatureDummyDoubledTest, installProcessor)
@@ -117,7 +151,7 @@ class ProcessorTrackerFeatureDummyDoubledTest : public testing::Test
// TEST_F(ProcessorTrackerFeatureDummyDoubledTest, process_one_prc)
// {
-// // Create a capture
+// // Create a capture
// CaptureBasePtr capture = std::make_shared<CaptureVoid>(0, sensor);
// // Process by one processor
@@ -126,10 +160,9 @@ class ProcessorTrackerFeatureDummyDoubledTest : public testing::Test
// problem->print(4,1,1,1);
// }
-
TEST_F(ProcessorTrackerFeatureDummyDoubledTest, process_once_one_prc_then_other)
{
- // Create a capture
+ // Create a capture
CaptureBasePtr capture = std::make_shared<CaptureVoid>(0, sensor);
// Process by one processor
@@ -140,7 +173,7 @@ TEST_F(ProcessorTrackerFeatureDummyDoubledTest, process_once_one_prc_then_other)
processor_2->captureCallback(capture);
auto frame_2 = capture->getFrame();
- problem->print(4,1,1,1);
+ problem->print(4, 1, 1, 1);
ASSERT_EQ(problem->getTrajectory()->getFrameMap().size(), 1);
@@ -152,7 +185,7 @@ TEST_F(ProcessorTrackerFeatureDummyDoubledTest, process_once)
// Process by both processors automatically in sequence
CaptureBasePtr capture = std::make_shared<CaptureVoid>(0, sensor);
capture->process();
- problem->print(4,1,1,1);
+ problem->print(4, 1, 1, 1);
ASSERT_EQ(problem->getTrajectory()->getFrameMap().size(), 1);
}
@@ -167,12 +200,12 @@ TEST_F(ProcessorTrackerFeatureDummyDoubledTest, process_twice)
capture = std::make_shared<CaptureVoid>(1, sensor);
capture->process();
- problem->print(4,1,1,1);
+ problem->print(4, 1, 1, 1);
}
TEST_F(ProcessorTrackerFeatureDummyDoubledTest, process_thrice)
{
- // Create a capture
+ // Create a capture
CaptureBasePtr capture = std::make_shared<CaptureVoid>(0, sensor);
// Process by both processors automatically in sequence
@@ -184,21 +217,21 @@ TEST_F(ProcessorTrackerFeatureDummyDoubledTest, process_thrice)
capture = std::make_shared<CaptureVoid>(2, sensor);
capture->process();
- problem->print(2,1,1,1);
+ problem->print(2, 1, 1, 1);
}
TEST_F(ProcessorTrackerFeatureDummyDoubledTest, process_loop)
{
- for (TimeStamp t(0); t <= 6; t = t+1)
+ for (TimeStamp t(0); t <= 6; t = t + 1)
{
auto capture = std::make_shared<CaptureVoid>(t, sensor);
capture->process();
}
- problem->print(2,1,1,1);
+ problem->print(2, 1, 1, 1);
}
-int main(int argc, char **argv)
+int main(int argc, char** argv)
{
- testing::InitGoogleTest(&argc, argv);
- return RUN_ALL_TESTS();
+ testing::InitGoogleTest(&argc, argv);
+ return RUN_ALL_TESTS();
}
--
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