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mobile_robotics
wolf_projects
wolf_lib
wolf
Commits
63b7e877
Commit
63b7e877
authored
1 year ago
by
cont-integration
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[skip ci] applied clang format
parent
bb5ca261
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1 merge request
!448
Draft: Resolve "Implementation of new nodes creation"
Pipeline
#16931
skipped
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2 changed files
include/core/processor/processor_tracker.h
+1
-1
1 addition, 1 deletion
include/core/processor/processor_tracker.h
test/gtest_processor_tracker_feature_dummy.cpp
+5
-5
5 additions, 5 deletions
test/gtest_processor_tracker_feature_dummy.cpp
with
6 additions
and
6 deletions
include/core/processor/processor_tracker.h
+
1
−
1
View file @
63b7e877
...
...
@@ -97,7 +97,7 @@ class ProcessorTracker : public ProcessorBase
FeatureBasePtrList
new_features_incoming_
;
///< list of the new features of \b last successfully tracked in \b incoming
FeatureBasePtrList
known_features_last_
;
///< list of the known features in previous captures successfully tracked in \b last
known_features_last_
;
///< list of the known features in previous captures successfully tracked in \b last
FeatureBasePtrList
known_features_incoming_
;
///< list of the known features in \b last successfully tracked in \b incoming
StateKeys
state_keys_
;
///< Keys of frames created or used by this processor
...
...
This diff is collapsed.
Click to expand it.
test/gtest_processor_tracker_feature_dummy.cpp
+
5
−
5
View file @
63b7e877
...
...
@@ -119,7 +119,7 @@ TEST_F(ProcessorTrackerFeatureDummyTest, processNew)
CaptureBasePtr
inc_cap
=
std
::
make_shared
<
CaptureVoid
>
(
1
,
sensor
);
processor
->
setInc
(
inc_cap
);
auto
n_new_feat
=
processor
->
callProcessNew
(
10
);
// detect 10 features
auto
n_new_feat
=
processor
->
callProcessNew
(
10
);
// detect 10 features
ASSERT_EQ
(
n_new_feat
,
10
);
// detected 10 features
ASSERT_EQ
(
processor
->
getLast
()
->
getFeatureList
().
size
(),
10
);
// detected 10 features
...
...
@@ -140,13 +140,13 @@ TEST_F(ProcessorTrackerFeatureDummyTest, processKnown)
CaptureBasePtr
inc_cap
=
std
::
make_shared
<
CaptureVoid
>
(
1
,
sensor
);
processor
->
setInc
(
inc_cap
);
processor
->
callProcessNew
(
15
);
// detect 15 features, 1 track lost per tracking
processor
->
callProcessNew
(
15
);
// detect 15 features, 1 track lost per tracking
ASSERT_EQ
(
processor
->
getLast
()
->
getFeatureList
().
size
(),
15
);
// detected 15 features
ASSERT_EQ
(
processor
->
getIncoming
()
->
getFeatureList
().
size
(),
14
);
// 1 track lost
ASSERT_EQ
(
processor
->
getMatchesLastFromIncoming
().
size
(),
14
);
// 1 track lost
processor
->
callReset
();
// now incoming is last and last is origin
processor
->
callReset
();
// now incoming is last and last is origin
// Put a capture on last_ptr_
CaptureBasePtr
new_cap
=
std
::
make_shared
<
CaptureVoid
>
(
0
,
sensor
);
...
...
@@ -203,13 +203,13 @@ TEST_F(ProcessorTrackerFeatureDummyTest, establishFactors)
CaptureBasePtr
inc_cap
=
CaptureBase
::
emplace
<
CaptureVoid
>
(
inc_frm
,
1
,
sensor
);
processor
->
setInc
(
inc_cap
);
processor
->
callProcessNew
(
15
);
// detect 15 features, 1 track lost per tracking
processor
->
callProcessNew
(
15
);
// detect 15 features, 1 track lost per tracking
ASSERT_EQ
(
processor
->
getLast
()
->
getFeatureList
().
size
(),
15
);
// detected 15 features
ASSERT_EQ
(
processor
->
getIncoming
()
->
getFeatureList
().
size
(),
14
);
// 1 track lost
ASSERT_EQ
(
processor
->
getMatchesLastFromIncoming
().
size
(),
14
);
// 1 track lost
processor
->
callReset
();
// now incoming is last and last is origin
processor
->
callReset
();
// now incoming is last and last is origin
// test establishFactors()
processor
->
callEstablishFactors
();
...
...
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