From bc95ea8377708372e074eef51ce3b6599eca6a50 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Joan=20Vallv=C3=A9=20Navarro?= <jvallve@iri.upc.edu>
Date: Mon, 27 May 2019 11:31:27 +0200
Subject: [PATCH] adapted tests to new api
---
test/gtest_capture_base.cpp | 22 -----
test/gtest_frame_base.cpp | 4 +-
test/gtest_track_matrix.cpp | 182 ++++++++++++++++++++++++++----------
test/gtest_trajectory.cpp | 46 ++++-----
4 files changed, 149 insertions(+), 105 deletions(-)
diff --git a/test/gtest_capture_base.cpp b/test/gtest_capture_base.cpp
index 8bb84231d..be8680356 100644
--- a/test/gtest_capture_base.cpp
+++ b/test/gtest_capture_base.cpp
@@ -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));
diff --git a/test/gtest_frame_base.cpp b/test/gtest_frame_base.cpp
index 4cbc927bf..77051e6e8 100644
--- a/test/gtest_frame_base.cpp
+++ b/test/gtest_frame_base.cpp
@@ -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());
}
diff --git a/test/gtest_track_matrix.cpp b/test/gtest_track_matrix.cpp
index 2f956b084..898fab241 100644
--- a/test/gtest_track_matrix.cpp
+++ b/test/gtest_track_matrix.cpp
@@ -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
*
diff --git a/test/gtest_trajectory.cpp b/test/gtest_trajectory.cpp
index 50a78bc0f..a88b35113 100644
--- a/test/gtest_trajectory.cpp
+++ b/test/gtest_trajectory.cpp
@@ -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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