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Commit ea3a6231 authored by Joan Solà Ortega's avatar Joan Solà Ortega
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cleanup

parent cda40881
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1 merge request!152Fix OpenCV dependencies in gtest_problem
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...@@ -79,8 +79,6 @@ TEST(Problem, Installers) ...@@ -79,8 +79,6 @@ TEST(Problem, Installers)
SensorBasePtr S = P->installSensor ("ODOM 3D", "odometer", xs, wolf_root + "/src/examples/sensor_odom_3D.yaml"); 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) // 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)); ProcessorBasePtr pt = std::make_shared<ProcessorTrackerFeatureDummy>(ProcessorTrackerFeatureDummy(5, 10));
S->addProcessor(pt); S->addProcessor(pt);
...@@ -220,7 +218,6 @@ TEST(Problem, StateBlocks) ...@@ -220,7 +218,6 @@ TEST(Problem, StateBlocks)
ASSERT_EQ(P->getStateBlockList().size(), 2 + 3); ASSERT_EQ(P->getStateBlockList().size(), 2 + 3);
ASSERT_EQ(P->getStateBlockNotificationList().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)); ProcessorBasePtr pt = std::make_shared<ProcessorTrackerFeatureDummy>(ProcessorTrackerFeatureDummy(5, 10));
St->addProcessor(pt); St->addProcessor(pt);
ProcessorBasePtr pm = P->installProcessor("ODOM 3D", "odom integrator", "odometer", wolf_root + "/src/examples/processor_odom_3D.yaml"); ProcessorBasePtr pm = P->installProcessor("ODOM 3D", "odom integrator", "odometer", wolf_root + "/src/examples/processor_odom_3D.yaml");
...@@ -250,7 +247,6 @@ TEST(Problem, Covariances) ...@@ -250,7 +247,6 @@ TEST(Problem, Covariances)
SensorBasePtr Sm = P->installSensor ("ODOM 3D", "odometer",xs, wolf_root + "/src/examples/sensor_odom_3D.yaml"); 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"); 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)); ProcessorBasePtr pt = std::make_shared<ProcessorTrackerFeatureDummy>(ProcessorTrackerFeatureDummy(5, 10));
St->addProcessor(pt); St->addProcessor(pt);
ProcessorBasePtr pm = P->installProcessor("ODOM 3D", "odom integrator", "odometer", wolf_root + "/src/examples/processor_odom_3D.yaml"); ProcessorBasePtr pm = P->installProcessor("ODOM 3D", "odom integrator", "odometer", wolf_root + "/src/examples/processor_odom_3D.yaml");
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