diff --git a/src/test/gtest_problem.cpp b/src/test/gtest_problem.cpp index c56f80ed314e26a0924ce0fa6687f5aeda31fbe2..d2b0ef0152083a7fac41377d376e502745fd5451 100644 --- a/src/test/gtest_problem.cpp +++ b/src/test/gtest_problem.cpp @@ -79,8 +79,6 @@ TEST(Problem, Installers) SensorBasePtr S = P->installSensor ("ODOM 3D", "odometer", xs, wolf_root + "/src/examples/sensor_odom_3D.yaml"); // install processor tracker (dummy installation under an Odometry sensor -- it's OK for this test) -// ProcessorBasePtr pt = P->installProcessor("IMAGE LANDMARK", "ORB landmark tracker", "odometer", wolf_root + "/src/examples/processor_image_ORB.yaml"); -// ProcessorBasePtr pt = P->installProcessor("ODOM 3D", "odometer processor", "odometer", wolf_root + "/src/examples/processor_odom_3D.yaml"); ProcessorBasePtr pt = std::make_shared<ProcessorTrackerFeatureDummy>(ProcessorTrackerFeatureDummy(5, 10)); S->addProcessor(pt); @@ -220,7 +218,6 @@ TEST(Problem, StateBlocks) ASSERT_EQ(P->getStateBlockList().size(), 2 + 3); ASSERT_EQ(P->getStateBlockNotificationList().size(), 2 + 3); -// ProcessorBasePtr pt = P->installProcessor("IMAGE LANDMARK", "ORB landmark tracker", "camera", wolf_root + "/src/examples/processor_image_ORB.yaml"); ProcessorBasePtr pt = std::make_shared<ProcessorTrackerFeatureDummy>(ProcessorTrackerFeatureDummy(5, 10)); St->addProcessor(pt); ProcessorBasePtr pm = P->installProcessor("ODOM 3D", "odom integrator", "odometer", wolf_root + "/src/examples/processor_odom_3D.yaml"); @@ -250,7 +247,6 @@ TEST(Problem, Covariances) SensorBasePtr Sm = P->installSensor ("ODOM 3D", "odometer",xs, wolf_root + "/src/examples/sensor_odom_3D.yaml"); SensorBasePtr St = P->installSensor ("CAMERA", "camera", xs, wolf_root + "/src/examples/camera_params_ueye_sim.yaml"); -// ProcessorBasePtr pt = P->installProcessor("IMAGE LANDMARK", "ORB landmark tracker", "camera", wolf_root + "/src/examples/processor_image_ORB.yaml"); ProcessorBasePtr pt = std::make_shared<ProcessorTrackerFeatureDummy>(ProcessorTrackerFeatureDummy(5, 10)); St->addProcessor(pt); ProcessorBasePtr pm = P->installProcessor("ODOM 3D", "odom integrator", "odometer", wolf_root + "/src/examples/processor_odom_3D.yaml");