From 412a90872abb2370188389549ede49ebe05ca3e8 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Joan=20Sol=C3=A0?= <jsola@iri.upc.edu>
Date: Mon, 16 Apr 2018 21:04:17 +0200
Subject: [PATCH] Add processor configuration that was forgotten
---
src/test/gtest_processor_tracker_feature_trifocal.cpp | 7 +++++--
1 file changed, 5 insertions(+), 2 deletions(-)
diff --git a/src/test/gtest_processor_tracker_feature_trifocal.cpp b/src/test/gtest_processor_tracker_feature_trifocal.cpp
index 89f2062a6..6c6ad24cc 100644
--- a/src/test/gtest_processor_tracker_feature_trifocal.cpp
+++ b/src/test/gtest_processor_tracker_feature_trifocal.cpp
@@ -78,6 +78,8 @@ TEST(ProcessorTrackerFeatureTrifocal, KeyFrameCallback)
// Install tracker (sensor and processor)
IntrinsicsCameraPtr intr = std::make_shared<IntrinsicsCamera>(); // TODO init params or read from YAML
+ intr->width = 640;
+ intr->height = 480;
SensorCameraPtr sens_trk = make_shared<SensorCamera>((Eigen::Vector7s()<<0,0,0, 0,0,0,1).finished(),
intr);
@@ -88,6 +90,7 @@ TEST(ProcessorTrackerFeatureTrifocal, KeyFrameCallback)
params_trifocal.yaml_file_params_vision_utils = wolf_root + "/src/examples/ACTIVESEARCH.yaml";
ProcessorTrackerFeatureTrifocalPtr proc_trk = make_shared<ProcessorTrackerFeatureTrifocal>(params_trifocal);
+ proc_trk->configure(sens_trk);
problem->addSensor(sens_trk);
sens_trk->addProcessor(proc_trk);
@@ -96,8 +99,8 @@ TEST(ProcessorTrackerFeatureTrifocal, KeyFrameCallback)
IntrinsicsOdom3DPtr params = std::make_shared<IntrinsicsOdom3D>();
SensorBasePtr sens_odo = problem->installSensor("ODOM 3D", "odometer", (Vector7s() << 0,0,0, 0,0,0,1).finished(), params);
ProcessorParamsOdom3DPtr proc_odo_params = make_shared<ProcessorParamsOdom3D>();
+ proc_odo_params->time_tolerance = dt/2;
ProcessorBasePtr proc_odo = problem->installProcessor("ODOM 3D", "odometer", sens_odo, proc_odo_params);
- proc_odo->setTimeTolerance(dt/2);
std::cout << "sensor & processor created and added to wolf problem" << std::endl;
@@ -109,7 +112,7 @@ TEST(ProcessorTrackerFeatureTrifocal, KeyFrameCallback)
Matrix6s P = Matrix6s::Identity() * 0.1;
problem->setPrior(x, P, t, dt/2); // KF1
- CaptureOdom3DPtr capt_odo = make_shared<CaptureOdom3D>(t, sens_odo, Vector6s::Zero());
+ CaptureOdom3DPtr capt_odo = make_shared<CaptureOdom3D>(t, sens_odo, Vector6s::Zero(), P);
// Track
cv::Mat image(640,480, CV_32F);
--
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