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Commit bc95ea83 authored by Joan Vallvé Navarro's avatar Joan Vallvé Navarro
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adapted tests to new api

parent 98a0276a
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1 merge request!274Resolve "Emplace API inconsistent with ProcessorTrackerFeature/Landmark functions"
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test/gtest_capture_base.cpp
+ 0
− 22
View file @ bc95ea83
......@@ -82,28 +82,6 @@ TEST(CaptureBase, addFeature)
ASSERT_EQ(C->getFeatureList().front(), f);
}
TEST(CaptureBase, addFeatureList)
{
CaptureBasePtr C(std::make_shared<CaptureBase>("DUMMY", 1.2)); // timestamp = 1.2
// FeatureBasePtr f_first = C->addFeature(std::make_shared<FeatureBase>("DUMMY", Vector2s::Zero(), Matrix2s::Identity()));
auto f_first = FeatureBase::emplace<FeatureBase>(C, "DUMMY", Vector2s::Zero(), Matrix2s::Identity());
ASSERT_EQ(C->getFeatureList().size(), (unsigned int) 1);
// make a list to add
std::list<FeatureBasePtr> fl;
for (int i = 0; i<3; i++)
{
fl.push_back(std::make_shared<FeatureBase>("DUMMY", Vector2s::Zero(), Matrix2s::Identity()));
}
FeatureBasePtr f_last = fl.back();
C->addFeatureList((fl));
ASSERT_EQ(C->getFeatureList().size(), (unsigned int) 4);
ASSERT_EQ(fl.size(), (unsigned int) 0); // features have been moved, not copied // EDIT 02-2019: features have been copied
ASSERT_EQ(C->getFeatureList().front(), f_first);
ASSERT_EQ(C->getFeatureList().back(), f_last);
}
TEST(CaptureBase, process)
{
SensorBasePtr S(std::make_shared<SensorBase>("DUMMY", nullptr, nullptr, nullptr, 2));
......
test/gtest_frame_base.cpp
+ 2
− 2
View file @ bc95ea83
......@@ -134,8 +134,8 @@ TEST(FrameBase, LinksToTree)
ASSERT_TRUE(F1->isKey());
ASSERT_TRUE(F1->isKeyOrAux());
// Unlink
F1->unlinkCapture(C);
// Unlink capture
C->unlink();
ASSERT_TRUE(F1->getCaptureList().empty());
}
......
test/gtest_track_matrix.cpp
+ 131
− 51
View file @ bc95ea83
......@@ -24,34 +24,68 @@ class TrackMatrixTest : public testing::Test
virtual void SetUp()
{
C0 = std::make_shared<CaptureBase>("BASE", 0.0);
C1 = std::make_shared<CaptureBase>("BASE", 1.0);
C2 = std::make_shared<CaptureBase>("BASE", 2.0);
C3 = std::make_shared<CaptureBase>("BASE", 3.0);
C4 = std::make_shared<CaptureBase>("BASE", 4.0);
f0 = std::make_shared<FeatureBase>("BASE", m, m_cov);
f1 = std::make_shared<FeatureBase>("BASE", m, m_cov);
f2 = std::make_shared<FeatureBase>("BASE", m, m_cov);
f3 = std::make_shared<FeatureBase>("BASE", m, m_cov);
f4 = std::make_shared<FeatureBase>("BASE", m, m_cov);
// unlinked captures
C0 = CaptureBase::emplace<CaptureBase>(nullptr, "BASE", 0.0);
C1 = CaptureBase::emplace<CaptureBase>(nullptr, "BASE", 0.0);
C2 = CaptureBase::emplace<CaptureBase>(nullptr, "BASE", 0.0);
C3 = CaptureBase::emplace<CaptureBase>(nullptr, "BASE", 0.0);
C4 = CaptureBase::emplace<CaptureBase>(nullptr, "BASE", 0.0);
// unlinked features
f0 = FeatureBase::emplace<FeatureBase>(nullptr, "BASE", m, m_cov);
f1 = FeatureBase::emplace<FeatureBase>(nullptr, "BASE", m, m_cov);
f2 = FeatureBase::emplace<FeatureBase>(nullptr, "BASE", m, m_cov);
f3 = FeatureBase::emplace<FeatureBase>(nullptr, "BASE", m, m_cov);
f4 = FeatureBase::emplace<FeatureBase>(nullptr, "BASE", m, m_cov);
}
};
TEST_F(TrackMatrixTest, newTrack)
{
track_matrix.newTrack(C0, f0);
f0->link(C0);
f1->link(C1);
track_matrix.newTrack(f0);
ASSERT_EQ(track_matrix.numTracks(), (unsigned int) 1);
track_matrix.newTrack(C0, f1);
track_matrix.newTrack(f1);
ASSERT_EQ(track_matrix.numTracks(), (unsigned int) 2);
}
TEST_F(TrackMatrixTest, add)
{
track_matrix.newTrack(C0, f0);
f0->link(C0);
f1->link(C1);
f2->link(C2);
track_matrix.newTrack(f0);
track_matrix.add(f0->trackId(), f1);
/* C0 C1 C2 snapshots
*
* f0---f1 trk 0
*/
ASSERT_EQ(track_matrix.trackSize(f1->trackId()), (unsigned int) 2);
ASSERT_EQ(f1->trackId(), f0->trackId());
track_matrix.add(f0->trackId(), f2);
/* C0 C1 C2 snapshots
*
* f0---f1---f2 trk 0
*/
ASSERT_EQ(track_matrix.trackSize(f2->trackId()), (unsigned int) 3);
ASSERT_EQ(f2->trackId(), f0->trackId());
}
TEST_F(TrackMatrixTest, add2)
{
f0->link(C0);
f1->link(C1);
f2->link(C2);
track_matrix.add(f0->trackId(), C1, f1);
track_matrix.newTrack(f0);
track_matrix.add(f0, f1);
/* C0 C1 C2 snapshots
*
* f0---f1 trk 0
......@@ -59,7 +93,7 @@ TEST_F(TrackMatrixTest, add)
ASSERT_EQ(track_matrix.trackSize(f1->trackId()), (unsigned int) 2);
ASSERT_EQ(f1->trackId(), f0->trackId());
track_matrix.add(f0->trackId(), C2, f2);
track_matrix.add(f1, f2);
/* C0 C1 C2 snapshots
*
* f0---f1---f2 trk 0
......@@ -70,8 +104,12 @@ TEST_F(TrackMatrixTest, add)
TEST_F(TrackMatrixTest, numTracks)
{
track_matrix.newTrack(C0, f0);
track_matrix.add(f0->trackId(), C1, f1);
f0->link(C0);
f1->link(C1);
f2->link(C0);
track_matrix.newTrack(f0);
track_matrix.add(f0->trackId(), f1);
/* C0 C1 C2 snapshots
*
......@@ -80,16 +118,20 @@ TEST_F(TrackMatrixTest, numTracks)
ASSERT_EQ(track_matrix.numTracks(), (unsigned int) 1);
track_matrix.add(f0->trackId(), C0, f2);
track_matrix.add(f0->trackId(), f2);
ASSERT_EQ(track_matrix.numTracks(), (unsigned int) 1);
}
TEST_F(TrackMatrixTest, trackSize)
{
track_matrix.newTrack(C0, f0);
track_matrix.add(f0->trackId(), C1, f1);
track_matrix.newTrack(C0, f2);
f0->link(C0);
f1->link(C1);
f2->link(C0);
track_matrix.newTrack(f0);
track_matrix.add(f0->trackId(), f1);
track_matrix.newTrack(f2);
/* C0 C1 C2 snapshots
*
......@@ -111,9 +153,13 @@ TEST_F(TrackMatrixTest, first_last_Feature)
* f2 trk 1
*/
track_matrix.newTrack(C0, f0);
track_matrix.add(f0->trackId(), C1, f1);
track_matrix.newTrack(C1, f2);
f0->link(C0);
f1->link(C1);
f2->link(C1);
track_matrix.newTrack(f0);
track_matrix.add(f0->trackId(), f1);
track_matrix.newTrack(f2);
ASSERT_EQ(track_matrix.firstFeature(f0->trackId()), f0);
ASSERT_EQ(track_matrix.lastFeature (f0->trackId()), f1);
......@@ -124,9 +170,13 @@ TEST_F(TrackMatrixTest, first_last_Feature)
TEST_F(TrackMatrixTest, remove_ftr)
{
track_matrix.newTrack(C0, f0);
track_matrix.add(f0->trackId(), C1, f1);
track_matrix.newTrack(C0, f2);
f0->link(C0);
f1->link(C1);
f2->link(C0);
track_matrix.newTrack(f0);
track_matrix.add(f0->trackId(), f1);
track_matrix.newTrack(f2);
/* C0 C1 C2 snapshots
*
......@@ -159,9 +209,13 @@ TEST_F(TrackMatrixTest, remove_ftr)
TEST_F(TrackMatrixTest, remove_trk)
{
track_matrix.newTrack(C0, f0);
track_matrix.add(f0->trackId(), C1, f1);
track_matrix.newTrack(C0, f2);
f0->link(C0);
f1->link(C1);
f2->link(C0);
track_matrix.newTrack(f0);
track_matrix.add(f0->trackId(), f1);
track_matrix.newTrack(f2);
/* C0 C1 C2 snapshots
*
......@@ -182,9 +236,13 @@ TEST_F(TrackMatrixTest, remove_trk)
TEST_F(TrackMatrixTest, remove_snapshot)
{
track_matrix.newTrack(C0, f0);
track_matrix.add(f0->trackId(), C1, f1);
track_matrix.newTrack(C0, f2);
f0->link(C0);
f1->link(C1);
f2->link(C0);
track_matrix.newTrack(f0);
track_matrix.add(f0->trackId(), f1);
track_matrix.newTrack(f2);
/* C0 C1 C2 snapshots
*
......@@ -209,9 +267,13 @@ TEST_F(TrackMatrixTest, remove_snapshot)
TEST_F(TrackMatrixTest, track)
{
track_matrix.newTrack(C0, f0);
track_matrix.add(f0->trackId(), C1, f1);
track_matrix.newTrack(C0, f2);
f0->link(C0);
f1->link(C1);
f2->link(C0);
track_matrix.newTrack(f0);
track_matrix.add(f0->trackId(), f1);
track_matrix.newTrack(f2);
/* C0 C1 C2 snapshots
*
......@@ -233,9 +295,13 @@ TEST_F(TrackMatrixTest, track)
TEST_F(TrackMatrixTest, snapshot)
{
track_matrix.newTrack(C0, f0);
track_matrix.add(f0->trackId(), C1, f1);
track_matrix.newTrack(C0, f2);
f0->link(C0);
f1->link(C1);
f2->link(C0);
track_matrix.newTrack(f0);
track_matrix.add(f0->trackId(), f1);
track_matrix.newTrack(f2);
/* C0 C1 C2 snapshots
*
......@@ -257,9 +323,13 @@ TEST_F(TrackMatrixTest, snapshot)
TEST_F(TrackMatrixTest, trackAsVector)
{
track_matrix.newTrack(C0, f0);
track_matrix.add(f0->trackId(), C1, f1);
track_matrix.newTrack(C0, f2);
f0->link(C0);
f1->link(C1);
f2->link(C0);
track_matrix.newTrack(f0);
track_matrix.add(f0->trackId(), f1);
track_matrix.newTrack(f2);
/* C0 C1 C2 snapshots
*
......@@ -277,9 +347,13 @@ TEST_F(TrackMatrixTest, trackAsVector)
TEST_F(TrackMatrixTest, snapshotAsList)
{
track_matrix.newTrack(C0, f0);
track_matrix.add(f0->trackId(), C1, f1);
track_matrix.newTrack(C0, f2);
f0->link(C0);
f1->link(C1);
f2->link(C0);
track_matrix.newTrack(f0);
track_matrix.add(f0->trackId(), f1);
track_matrix.newTrack(f2);
/* C0 C1 C2 snapshots
*
......@@ -297,11 +371,17 @@ TEST_F(TrackMatrixTest, snapshotAsList)
TEST_F(TrackMatrixTest, matches)
{
track_matrix.newTrack(C0, f0);
track_matrix.add(f0->trackId(), C1, f1);
track_matrix.add(f0->trackId(), C2, f2);
track_matrix.newTrack(C0, f3);
track_matrix.add(f3->trackId(), C1, f4);
f0->link(C0);
f1->link(C1);
f2->link(C2);
f3->link(C0);
f4->link(C1);
track_matrix.newTrack(f0);
track_matrix.add(f0->trackId(), f1);
track_matrix.add(f0->trackId(), f2);
track_matrix.newTrack(f3);
track_matrix.add(f3->trackId(), f4);
/* C0 C1 C2 C3 snapshots
*
......
test/gtest_trajectory.cpp
+ 16
− 30
View file @ bc95ea83
......@@ -57,14 +57,10 @@ TEST(TrajectoryBase, ClosestKeyFrame)
// 1 2 3 4 time stamps
// --+-----+-----+-----+---> time
FrameBasePtr F1 = std::make_shared<FrameBase>(KEY, 1, nullptr, nullptr);
FrameBasePtr F2 = std::make_shared<FrameBase>(KEY, 2, nullptr, nullptr);
FrameBasePtr F3 = std::make_shared<FrameBase>(AUXILIARY, 3, nullptr, nullptr);
FrameBasePtr F4 = std::make_shared<FrameBase>(NON_ESTIMATED, 4, nullptr, nullptr);
T->addFrame(F1);
T->addFrame(F2);
T->addFrame(F3);
T->addFrame(F4);
FrameBasePtr F1 = P->emplaceFrame(KEY, Eigen::Vector3s::Zero(), 1);
FrameBasePtr F2 = P->emplaceFrame(KEY, Eigen::Vector3s::Zero(), 2);
FrameBasePtr F3 = P->emplaceFrame(AUXILIARY, Eigen::Vector3s::Zero(), 3);
FrameBasePtr F4 = P->emplaceFrame(NON_ESTIMATED, Eigen::Vector3s::Zero(), 4);
FrameBasePtr KF; // closest key-frame queried
......@@ -98,9 +94,9 @@ TEST(TrajectoryBase, ClosestKeyOrAuxFrame)
// 1 2 3 time stamps
// --+-----+-----+---> time
FrameBasePtr F1 = FrameBase::emplace<FrameBase>(T, KEY, 1, nullptr, nullptr);
FrameBasePtr F2 = FrameBase::emplace<FrameBase>(T, AUXILIARY, 2, nullptr, nullptr);
FrameBasePtr F3 = FrameBase::emplace<FrameBase>(T, NON_ESTIMATED, 3, nullptr, nullptr);
FrameBasePtr F1 = P->emplaceFrame(KEY, Eigen::Vector3s::Zero(), 1);
FrameBasePtr F2 = P->emplaceFrame(AUXILIARY, Eigen::Vector3s::Zero(), 2);
FrameBasePtr F3 = P->emplaceFrame(NON_ESTIMATED, Eigen::Vector3s::Zero(), 3);
FrameBasePtr KF; // closest key-frame queried
......@@ -134,30 +130,24 @@ TEST(TrajectoryBase, Add_Remove_Frame)
// 1 2 3 time stamps
// --+-----+-----+---> time
FrameBasePtr F1 = std::make_shared<FrameBase>(KEY, 1, make_shared<StateBlock>(2), make_shared<StateBlock>(1)); // 2 non-fixed
FrameBasePtr F2 = std::make_shared<FrameBase>(KEY, 2, make_shared<StateBlock>(2), make_shared<StateBlock>(1, true)); // 1 fixed, 1 not
FrameBasePtr F3 = std::make_shared<FrameBase>(NON_ESTIMATED, 3, make_shared<StateBlock>(2), make_shared<StateBlock>(1)); // non-key-frame
// FrameBasePtr f1 = FrameBase::emplace<FrameBase>(T, KEY_FRAME, 1, make_shared<StateBlock>(2), make_shared<StateBlock>(1)); // 2 non-fixed
// FrameBasePtr f2 = FrameBase::emplace<FrameBase>(T, KEY_FRAME, 2, make_shared<StateBlock>(2), make_shared<StateBlock>(1, true)); // 1 fixed, 1 not
// FrameBasePtr f3 = FrameBase::emplace<FrameBase>(T, NON_KEY_FRAME, 3, make_shared<StateBlock>(2), make_shared<StateBlock>(1)); // non-key-frame
std::cout << __LINE__ << std::endl;
// add frames and keyframes
F1->link(T);
// add F1
FrameBasePtr F1 = P->emplaceFrame(KEY, Eigen::Vector3s::Zero(), 1); // 2 non-fixed
if (debug) P->print(2,0,0,0);
ASSERT_EQ(T->getFrameList(). size(), (SizeStd) 1);
ASSERT_EQ(P->getStateBlockNotificationMapSize(), (SizeStd) 2);
std::cout << __LINE__ << std::endl;
F2->link(T);
// add F2
FrameBasePtr F2 = P->emplaceFrame(KEY, Eigen::Vector3s::Zero(), 2); // 1 fixed, 1 not
if (debug) P->print(2,0,0,0);
ASSERT_EQ(T->getFrameList(). size(), (SizeStd) 2);
ASSERT_EQ(P->getStateBlockNotificationMapSize(), (SizeStd) 4);
std::cout << __LINE__ << std::endl;
F3->link(T);
// add F3
FrameBasePtr F3 = P->emplaceFrame(NON_ESTIMATED, Eigen::Vector3s::Zero(), 3);
if (debug) P->print(2,0,0,0);
ASSERT_EQ(T->getFrameList(). size(), (SizeStd) 3);
ASSERT_EQ(P->getStateBlockNotificationMapSize(), (SizeStd) 4);
......@@ -212,24 +202,20 @@ TEST(TrajectoryBase, KeyFramesAreSorted)
// 1 2 3 time stamps
// --+-----+-----+---> time
FrameBasePtr F1 = std::make_shared<FrameBase>(KEY, 1, make_shared<StateBlock>(2), make_shared<StateBlock>(1)); // 2 non-fixed
FrameBasePtr F2 = std::make_shared<FrameBase>(KEY, 2, make_shared<StateBlock>(2), make_shared<StateBlock>(1, true)); // 1 fixed, 1 not
FrameBasePtr F3 = std::make_shared<FrameBase>(NON_ESTIMATED, 3, make_shared<StateBlock>(2), make_shared<StateBlock>(1)); // non-key-frame
// add frames and keyframes in random order --> keyframes must be sorted after that
F2->link(T);
FrameBasePtr F2 = P->emplaceFrame(KEY, Eigen::Vector3s::Zero(), 2);
if (debug) P->print(2,0,0,0);
ASSERT_EQ(T->getLastFrame() ->id(), F2->id());
ASSERT_EQ(T->getLastKeyOrAuxFrame()->id(), F2->id());
ASSERT_EQ(T->getLastKeyFrame() ->id(), F2->id());
F3->link(T);
FrameBasePtr F3 = P->emplaceFrame(NON_ESTIMATED, Eigen::Vector3s::Zero(), 3); // non-key-frame
if (debug) P->print(2,0,0,0);
ASSERT_EQ(T->getLastFrame() ->id(), F3->id());
ASSERT_EQ(T->getLastKeyOrAuxFrame()->id(), F2->id());
ASSERT_EQ(T->getLastKeyFrame() ->id(), F2->id());
F1->link(T);
FrameBasePtr F1 = P->emplaceFrame(KEY, Eigen::Vector3s::Zero(), 1);
if (debug) P->print(2,0,0,0);
ASSERT_EQ(T->getLastFrame() ->id(), F3->id());
ASSERT_EQ(T->getLastKeyOrAuxFrame()->id(), F2->id());
......
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