From 9f1a592793691a7d9e8d77a1906e0ae20896124c Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Joan=20Sol=C3=A0?= <jsola@iri.upc.edu>
Date: Tue, 6 Mar 2018 22:49:40 +0100
Subject: [PATCH] Fix gtest Odom2D
---
src/test/gtest_odom_2D.cpp | 14 +++++++++++---
1 file changed, 11 insertions(+), 3 deletions(-)
diff --git a/src/test/gtest_odom_2D.cpp b/src/test/gtest_odom_2D.cpp
index f4f0f22a6..bd101f240 100644
--- a/src/test/gtest_odom_2D.cpp
+++ b/src/test/gtest_odom_2D.cpp
@@ -322,6 +322,7 @@ TEST(Odom2D, KF_callback)
Matrix3s unmeasured_cov = params->unmeasured_perturbation_std_*params->unmeasured_perturbation_std_*Matrix3s::Identity();
ProcessorBasePtr prc_base = problem->installProcessor("ODOM 2D", "odom", sensor_odom2d, params);
ProcessorOdom2DPtr processor_odom2d = std::static_pointer_cast<ProcessorOdom2D>(prc_base);
+ processor_odom2d->setTimeTolerance(dt/2);
// Ceres wrapper
CeresManager ceres_manager(problem);
@@ -390,7 +391,11 @@ TEST(Odom2D, KF_callback)
FrameBasePtr keyframe_2 = problem->emplaceFrame(KEY_FRAME, x_split, t_split);
ASSERT_TRUE(problem->check(0));
- processor_odom2d->keyFrameCallback(keyframe_2, 0);
+ processor_odom2d->keyFrameCallback(keyframe_2, dt/2);
+ ASSERT_TRUE(problem->check(0));
+ t += dt;
+ capture->setTimeStamp(t);
+ processor_odom2d->process(capture);
ASSERT_TRUE(problem->check(0));
CaptureMotionPtr key_capture_n = std::static_pointer_cast<CaptureMotion>(keyframe_2->getCaptureList().front());
@@ -416,7 +421,11 @@ TEST(Odom2D, KF_callback)
FrameBasePtr keyframe_1 = problem->emplaceFrame(KEY_FRAME, x_split, t_split);
ASSERT_TRUE(problem->check(0));
- processor_odom2d->keyFrameCallback(keyframe_1, 0);
+ processor_odom2d->keyFrameCallback(keyframe_1, dt/2);
+ ASSERT_TRUE(problem->check(0));
+ t += dt;
+ capture->setTimeStamp(t);
+ processor_odom2d->process(capture);
ASSERT_TRUE(problem->check(0));
CaptureMotionPtr key_capture_m = std::static_pointer_cast<CaptureMotion>(keyframe_1->getCaptureList().front());
@@ -429,7 +438,6 @@ TEST(Odom2D, KF_callback)
keyframe_2->setState(Vector3s(3,1,2));
report = ceres_manager.solve(1);
-// std::cout << report << std::endl;
ceres_manager.computeCovariances(ALL_MARGINALS);
// check the split KF
--
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