From 8027e231e93444db396298db76dcbe9e46189240 Mon Sep 17 00:00:00 2001
From: PepMS <jmarti@iri.upc.edu>
Date: Wed, 3 Jul 2019 08:34:26 +0200
Subject: [PATCH] Fixed gest_odom2d
---
test/gtest_odom_2D.cpp | 8 +++++---
1 file changed, 5 insertions(+), 3 deletions(-)
diff --git a/test/gtest_odom_2D.cpp b/test/gtest_odom_2D.cpp
index 4c7852585..7033299e5 100644
--- a/test/gtest_odom_2D.cpp
+++ b/test/gtest_odom_2D.cpp
@@ -113,6 +113,7 @@ TEST(Odom2D, FactorFix_and_FactorOdom2D)
// GND
// `absolute` is made with FactorFix
// `motion` is made with FactorOdom2D
+ // Odom sensor extrinsics: Tr_s = identity
std::cout << std::setprecision(4);
@@ -126,20 +127,22 @@ TEST(Odom2D, FactorFix_and_FactorOdom2D)
ProblemPtr Pr = Problem::create("PO", 2);
CeresManager ceres_manager(Pr);
+ SensorBasePtr sensor_odom2d = Pr->installSensor("ODOM 2D", "odom", Vector3s(0,0,0));
+
// KF0 and absolute prior
FrameBasePtr F0 = Pr->setPrior(x0, P0,t0, dt/2);
// KF1 and motion from KF0
t += dt;
FrameBasePtr F1 = Pr->emplaceFrame(KEY, Vector3s::Zero(), t);
- auto C1 = CaptureBase::emplace<CaptureBase>(F1, "ODOM 2D", t);
+ auto C1 = CaptureBase::emplace<CaptureBase>(F1, "ODOM 2D", t, sensor_odom2d);
auto f1 = FeatureBase::emplace<FeatureBase>(C1, "ODOM 2D", delta, delta_cov);
auto c1 = FactorBase::emplace<FactorOdom2D>(f1, f1, F0, nullptr);
// KF2 and motion from KF1
t += dt;
FrameBasePtr F2 = Pr->emplaceFrame(KEY, Vector3s::Zero(), t);
- auto C2 = CaptureBase::emplace<CaptureBase>(F2, "ODOM 2D", t);
+ auto C2 = CaptureBase::emplace<CaptureBase>(F2, "ODOM 2D", t, sensor_odom2d);
auto f2 = FeatureBase::emplace<FeatureBase>(C2, "ODOM 2D", delta, delta_cov);
auto c2 = FactorBase::emplace<FactorOdom2D>(f2, f2, F1, nullptr);
@@ -486,4 +489,3 @@ int main(int argc, char **argv)
testing::InitGoogleTest(&argc, argv);
return RUN_ALL_TESTS();
}
-
--
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