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switched to other test discovery

This commit is contained in:
Vladyslav Usenko 2019-06-07 16:25:21 +02:00
parent da4c845b62
commit d0b2ab0f29
2 changed files with 13 additions and 8 deletions
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13
test/CMakeLists.txt
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@ -22,7 +22,12 @@ enable_testing()
include(GoogleTest) include(GoogleTest)
gtest_discover_tests(test_image DISCOVERY_TIMEOUT 60) #gtest_discover_tests(test_image DISCOVERY_TIMEOUT 60)
gtest_discover_tests(test_spline_opt DISCOVERY_TIMEOUT 60) #gtest_discover_tests(test_spline_opt DISCOVERY_TIMEOUT 60)
gtest_discover_tests(test_vio DISCOVERY_TIMEOUT 60) #gtest_discover_tests(test_vio DISCOVERY_TIMEOUT 60)
gtest_discover_tests(test_nfr DISCOVERY_TIMEOUT 60) #gtest_discover_tests(test_nfr DISCOVERY_TIMEOUT 60)
gtest_add_tests(TARGET test_image AUTO)
gtest_add_tests(TARGET test_spline_opt AUTO)
gtest_add_tests(TARGET test_vio AUTO)
gtest_add_tests(TARGET test_nfr AUTO)

8
test/src/test_vio.cpp
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@ -21,7 +21,7 @@ std::mt19937 gen{rd()};
std::normal_distribution<> gyro_noise_dist{0, gyro_std_dev}; std::normal_distribution<> gyro_noise_dist{0, gyro_std_dev};
std::normal_distribution<> accel_noise_dist{0, accel_std_dev}; std::normal_distribution<> accel_noise_dist{0, accel_std_dev};
TEST(PreIntegrationTestSuite, ImuNullspace2Test) { TEST(VioTestSuite, ImuNullspace2Test) {
int num_knots = 15; int num_knots = 15;
Eigen::Vector3d bg, ba; Eigen::Vector3d bg, ba;
@ -146,7 +146,7 @@ TEST(PreIntegrationTestSuite, ImuNullspace2Test) {
EXPECT_LE(std::abs(null_res[5]), 1e-6); EXPECT_LE(std::abs(null_res[5]), 1e-6);
} }
TEST(PreIntegrationTestSuite, ImuNullspace3Test) { TEST(VioTestSuite, ImuNullspace3Test) {
int num_knots = 15; int num_knots = 15;
Eigen::Vector3d bg, ba; Eigen::Vector3d bg, ba;
@ -287,7 +287,7 @@ TEST(PreIntegrationTestSuite, ImuNullspace3Test) {
EXPECT_LE(std::abs(null_res[5]), 1e-6); EXPECT_LE(std::abs(null_res[5]), 1e-6);
} }
TEST(PreIntegrationTestSuite, RelPoseTest) { TEST(VioTestSuite, RelPoseTest) {
Sophus::SE3d T_w_i_h = Sophus::expd(Sophus::Vector6d::Random()); Sophus::SE3d T_w_i_h = Sophus::expd(Sophus::Vector6d::Random());
Sophus::SE3d T_w_i_t = Sophus::expd(Sophus::Vector6d::Random()); Sophus::SE3d T_w_i_t = Sophus::expd(Sophus::Vector6d::Random());
@ -335,7 +335,7 @@ TEST(PreIntegrationTestSuite, RelPoseTest) {
} }
} }
TEST(PreIntegrationTestSuite, LinearizePointsTest) { TEST(VioTestSuite, LinearizePointsTest) {
basalt::ExtendedUnifiedCamera<double> cam = basalt::ExtendedUnifiedCamera<double> cam =
basalt::ExtendedUnifiedCamera<double>::getTestProjections()[0]; basalt::ExtendedUnifiedCamera<double>::getTestProjections()[0];