From 7a0a5a093a8e2cfa03bd6f3142da491d0eea9260 Mon Sep 17 00:00:00 2001
From: joanvallve <jvallve@iri.upc.edu>
Date: Tue, 5 Oct 2021 18:16:37 +0200
Subject: [PATCH] working on processor gtest
---
src/processor/processor_fix_wing_model.cpp | 3 +
test/CMakeLists.txt | 4 +
test/gtest_processor_fix_wing_model.cpp | 157 ++++-----------------
3 files changed, 36 insertions(+), 128 deletions(-)
diff --git a/src/processor/processor_fix_wing_model.cpp b/src/processor/processor_fix_wing_model.cpp
index 869bbc087..7c12e90f8 100644
--- a/src/processor/processor_fix_wing_model.cpp
+++ b/src/processor/processor_fix_wing_model.cpp
@@ -34,6 +34,9 @@ void ProcessorFixWingModel::processKeyFrame(FrameBasePtr _keyframe_ptr, const do
if (_keyframe_ptr->getV()->isFixed())
return;
+ if (_keyframe_ptr->getFactorOf(shared_from_this()) != nullptr)
+ return;
+
// emplace capture
auto cap = CaptureBase::emplace<CaptureBase>(_keyframe_ptr, "CaptureBase",
_keyframe_ptr->getTimeStamp(), getSensor());
diff --git a/test/CMakeLists.txt b/test/CMakeLists.txt
index a6305564d..46964ac57 100644
--- a/test/CMakeLists.txt
+++ b/test/CMakeLists.txt
@@ -234,6 +234,10 @@ wolf_add_gtest(gtest_param_prior gtest_param_prior.cpp)
target_link_libraries(gtest_param_prior ${PLUGIN_NAME})
# ProcessorDiffDriveSelfcalib class test
+wolf_add_gtest(gtest_processor_fix_wing_model gtest_processor_fix_wing_model.cpp)
+target_link_libraries(gtest_processor_fix_wing_model ${PLUGIN_NAME})
+
+# ProcessorFixWingModel class test
wolf_add_gtest(gtest_processor_diff_drive gtest_processor_diff_drive.cpp)
target_link_libraries(gtest_processor_diff_drive ${PLUGIN_NAME})
diff --git a/test/gtest_processor_fix_wing_model.cpp b/test/gtest_processor_fix_wing_model.cpp
index 1dd0fba63..61dc64445 100644
--- a/test/gtest_processor_fix_wing_model.cpp
+++ b/test/gtest_processor_fix_wing_model.cpp
@@ -55,155 +55,56 @@ TEST_F(ProcessorFixWingModelTest, setup)
EXPECT_TRUE(problem->check());
}
-TEST_F(ProcessorFixWingModelTest, frame_stored)
+TEST_F(ProcessorFixWingModelTest, keyFrameCallback)
{
// new frame
- auto frm1 = emplaceFrame(1, Vector3d::Zero());
-
- // keyframecallback
- problem->keyFrameCallback(frm1, nullptr, 0.5);
-
- EXPECT_EQ(processor->getNStoredFrames(), 1);
- EXPECT_EQ(processor->getNStoredCaptures(), 0);
-}
-
-TEST_F(ProcessorFixWingModelTest, capture_stored)
-{
- // new capture
- auto cap1 = createCapture(1);
-
- // captureCallback
- processor->captureCallback(cap1);
-
- EXPECT_EQ(processor->getNStoredFrames(), 0);
- EXPECT_EQ(processor->getNStoredCaptures(), 1);
-}
-
-TEST_F(ProcessorFixWingModelTest, captureCallbackCase1)
-{
- // emplace frame and capture
- auto frm1 = emplaceFrame(1, Vector3d::Zero());
- auto cap1 = emplaceCapture(frm1);
-
- // captureCallback
- processor->captureCallback(cap1);
-
- EXPECT_EQ(cap1->getFeatureList().size(), 1); // capture processed by the processor
- EXPECT_EQ(processor->getNStoredFrames(), 0);
- EXPECT_EQ(processor->getNStoredCaptures(), 0);
-}
-
-TEST_F(ProcessorFixWingModelTest, captureCallbackCase2)
-{
- // new frame
- auto frm1 = emplaceFrame(1, Vector3d::Zero());
-
- // new capture
- auto cap1 = createCapture(1);
-
- // keyframecallback
- problem->keyFrameCallback(frm1, nullptr, 0.5);
-
- // captureCallback
- processor->captureCallback(cap1);
-
- EXPECT_EQ(cap1->getFrame(), frm1); // capture processed by the processor
- EXPECT_EQ(cap1->getFeatureList().size(), 1); // capture processed by the processor
- EXPECT_EQ(processor->getNStoredFrames(), 0);
- EXPECT_EQ(processor->getNStoredCaptures(), 0);
-}
-
-TEST_F(ProcessorFixWingModelTest, captureCallbackCase3)
-{
- // new frame
- auto frm1 = emplaceFrame(1, Vector3d::Zero());
- // new capture
- auto cap1 = createCapture(2);
+ auto frm1 = emplaceFrame(1, (Vector10d() << 0,0,0,0,0,0,1,1,0,0).finished());
// keyframecallback
problem->keyFrameCallback(frm1, nullptr, 0.5);
- // captureCallback
- processor->captureCallback(cap1);
-
- EXPECT_TRUE(cap1->getFrame() == nullptr);
- EXPECT_EQ(cap1->getFeatureList().size(), 0);
- EXPECT_EQ(processor->getNStoredFrames(), 1);
- EXPECT_EQ(processor->getNStoredCaptures(), 1);
-}
+ // check one capture
+ ASSERT_EQ(frm1->getCapturesOf(sensor).size(), 1);
+ auto cap = frm1->getCaptureOf(sensor);
+ ASSERT_TRUE(cap != nullptr);
-TEST_F(ProcessorFixWingModelTest, keyFrameCallbackCase1)
-{
- // emplace frame and capture
- auto frm1 = emplaceFrame(1, Vector3d::Zero());
- auto cap1 = emplaceCapture(frm1);
-
- // keyframecallback
- problem->keyFrameCallback(frm1, nullptr, 0.5);
+ // check one feature
+ ASSERT_EQ(cap->getFeatureList().size(), 1);
- EXPECT_EQ(cap1->getFeatureList().size(), 1); // capture processed by the processor
- EXPECT_EQ(processor->getNStoredFrames(), 0);
- EXPECT_EQ(processor->getNStoredCaptures(), 0);
+ // check one factor
+ auto fac = frm1->getFactorOf(processor, "FactorVelocityLocalDirection3d");
+ ASSERT_TRUE(fac != nullptr);
+ ASSERT_TRUE(fac->getFeature() != nullptr);
+ ASSERT_TRUE(fac->getCapture() == frm1->getCaptureOf(sensor));
}
-TEST_F(ProcessorFixWingModelTest, keyFrameCallbackCase2)
+TEST_F(ProcessorFixWingModelTest, keyFrameCallbackRepeated)
{
// new frame
- auto frm1 = emplaceFrame(1, Vector3d::Zero());
- // new capture
- auto cap1 = createCapture(1);
-
- // captureCallback
- processor->captureCallback(cap1);
+ auto frm1 = emplaceFrame(1, (Vector10d() << 0,0,0,0,0,0,1,1,0,0).finished());
// keyframecallback
problem->keyFrameCallback(frm1, nullptr, 0.5);
- EXPECT_EQ(cap1->getFrame(), frm1); // capture processed by the processor
- EXPECT_EQ(cap1->getFeatureList().size(), 1); // capture processed by the processor
- EXPECT_EQ(processor->getNStoredFrames(), 0);
- EXPECT_EQ(processor->getNStoredCaptures(), 0);
-}
-
-TEST_F(ProcessorFixWingModelTest, keyFrameCallbackCase3)
-{
- // new frame
- auto frm1 = emplaceFrame(2, Vector3d::Zero());
- // new capture
- auto cap1 = createCapture(1);
-
- // captureCallback
- processor->captureCallback(cap1);
-
- // keyframecallback
+ // repeated keyframecallback
problem->keyFrameCallback(frm1, nullptr, 0.5);
- EXPECT_TRUE(cap1->getFrame() == nullptr);
- EXPECT_EQ(cap1->getFeatureList().size(), 0);
- EXPECT_EQ(processor->getNStoredFrames(), 1);
- EXPECT_EQ(processor->getNStoredCaptures(), 1);
-}
+ // check one capture
+ ASSERT_EQ(frm1->getCapturesOf(sensor).size(), 1);
+ auto cap = frm1->getCaptureOf(sensor);
+ ASSERT_TRUE(cap != nullptr);
-TEST_F(ProcessorFixWingModelTest, keyFrameCallbackCase4)
-{
- // new frame
- auto frm1 = emplaceFrame(1, Vector3d::Zero());
- // new capture
- auto cap1 = createCapture(2);
-
- // captureCallback
- processor->captureCallback(cap1);
+ // check one feature
+ ASSERT_EQ(cap->getFeatureList().size(), 1);
- // keyframecallback
- problem->keyFrameCallback(frm1, nullptr, 0.5);
-
- EXPECT_TRUE(cap1->getFrame() == nullptr);
- EXPECT_EQ(cap1->getFeatureList().size(), 0);
- EXPECT_EQ(processor->getNStoredFrames(), 0);
- EXPECT_EQ(processor->getNStoredCaptures(), 1);
+ // check one factor
+ auto fac = frm1->getFactorOf(processor, "FactorVelocityLocalDirection3d");
+ ASSERT_TRUE(fac != nullptr);
+ ASSERT_TRUE(fac->getFeature() != nullptr);
+ ASSERT_TRUE(fac->getCapture() == frm1->getCaptureOf(sensor));
}
-TEST_F(ProcessorFixWingModelTest, captureCallbackMatch)
+/*TEST_F(ProcessorFixWingModelTest, captureCallbackMatch)
{
// new frame
auto frm1 = emplaceFrame(1, Vector3d::Zero());
@@ -305,7 +206,7 @@ TEST_F(ProcessorFixWingModelTest, emplaceFactors)
EXPECT_EQ(cap4->getFeatureList().front()->getFactorList().size(), 1);
EXPECT_EQ(cap1->getFrame()->getConstrainedByList().front(), cap4->getFeatureList().front()->getFactorList().front());
-}
+}*/
int main(int argc, char **argv)
{
--
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