From 4278dbb7ead664d6091fe4e2f94853ee0b6055a0 Mon Sep 17 00:00:00 2001
From: gaschler <gaschlera@gmail.com>
Date: Tue, 17 Apr 2018 15:41:09 +0200
Subject: [PATCH] Speed up slow tests (#1077)

Same checks, half the time.
---
 .../mapping/internal/3d/local_trajectory_builder_3d_test.cc   | 4 ++--
 .../3d/scan_matching/fast_correlative_scan_matcher_3d_test.cc | 2 +-
 2 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/cartographer/mapping/internal/3d/local_trajectory_builder_3d_test.cc b/cartographer/mapping/internal/3d/local_trajectory_builder_3d_test.cc
index 9879abb..f0a494e 100644
--- a/cartographer/mapping/internal/3d/local_trajectory_builder_3d_test.cc
+++ b/cartographer/mapping/internal/3d/local_trajectory_builder_3d_test.cc
@@ -53,7 +53,7 @@ class LocalTrajectoryBuilderTest : public ::testing::Test {
           min_range = 0.5,
           max_range = 50.,
           num_accumulated_range_data = 1,
-          voxel_filter_size = 0.05,
+          voxel_filter_size = 0.2,
 
           high_resolution_adaptive_voxel_filter = {
             max_length = 0.7,
@@ -237,7 +237,7 @@ class LocalTrajectoryBuilderTest : public ::testing::Test {
           TrajectoryNode{current_time, transform::Rigid3d::Identity()});
     }
     // Corkscrew translation and constant velocity rotation.
-    for (double t = 0.; t <= 0.6; t += 0.006) {
+    for (double t = 0.; t <= 0.6; t += 0.05) {
       current_time += common::FromSeconds(0.3);
       trajectory.push_back(TrajectoryNode{
           current_time,
diff --git a/cartographer/mapping/internal/3d/scan_matching/fast_correlative_scan_matcher_3d_test.cc b/cartographer/mapping/internal/3d/scan_matching/fast_correlative_scan_matcher_3d_test.cc
index 16487ff..786e3b8 100644
--- a/cartographer/mapping/internal/3d/scan_matching/fast_correlative_scan_matcher_3d_test.cc
+++ b/cartographer/mapping/internal/3d/scan_matching/fast_correlative_scan_matcher_3d_test.cc
@@ -37,7 +37,7 @@ class FastCorrelativeScanMatcher3DTest : public ::testing::Test {
  protected:
   FastCorrelativeScanMatcher3DTest()
       : range_data_inserter_(CreateRangeDataInserterTestOptions3D()),
-        options_(CreateFastCorrelativeScanMatcher3DTestOptions3D(5)) {}
+        options_(CreateFastCorrelativeScanMatcher3DTestOptions3D(6)) {}
 
   void SetUp() override {
     point_cloud_ = {