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Enabled more unit tests and either fixed them or have them print a "disabled" message during make check

release/4.3a0
Richard Roberts 2013-08-11 18:41:08 +00:00
parent f4d816dcf8
commit 517a5037a7
4 changed files with 16 additions and 15 deletions
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10
gtsam_unstable/slam/CMakeLists.txt
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@ -25,15 +25,7 @@ set (slam_full_libs
# Exclude tests that don't work # Exclude tests that don't work
set (slam_excluded_tests set (slam_excluded_tests
"${CMAKE_CURRENT_SOURCE_DIR}/tests/testAHRS.cpp" # "${CMAKE_CURRENT_SOURCE_DIR}/tests/testSerialization.cpp"
"${CMAKE_CURRENT_SOURCE_DIR}/tests/testCombinedImuFactor.cpp"
"${CMAKE_CURRENT_SOURCE_DIR}/tests/testImuFactor.cpp"
"${CMAKE_CURRENT_SOURCE_DIR}/tests/testInvDepthFactor3.cpp"
"${CMAKE_CURRENT_SOURCE_DIR}/tests/testInvDepthFactorVariant1.cpp"
"${CMAKE_CURRENT_SOURCE_DIR}/tests/testInvDepthFactorVariant2.cpp"
"${CMAKE_CURRENT_SOURCE_DIR}/tests/testInvDepthFactorVariant3.cpp"
"${CMAKE_CURRENT_SOURCE_DIR}/tests/testMultiProjectionFactor.cpp"
"${CMAKE_CURRENT_SOURCE_DIR}/tests/testSerialization.cpp"
# "" # Add to this list, with full path, to exclude # "" # Add to this list, with full path, to exclude
) )
# Add all tests # Add all tests

4
gtsam_unstable/slam/tests/testInvDepthFactor3.cpp
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@ -49,7 +49,7 @@ TEST( InvDepthFactor, optimize) {
InverseDepthFactor::shared_ptr factor(new InverseDepthFactor(expected_uv, sigma, InverseDepthFactor::shared_ptr factor(new InverseDepthFactor(expected_uv, sigma,
Symbol('x',1), Symbol('l',1), Symbol('d',1), K)); Symbol('x',1), Symbol('l',1), Symbol('d',1), K));
graph.push_back(factor); graph.push_back(factor);
graph.add(PoseConstraint(Symbol('x',1),level_pose)); graph += PoseConstraint(Symbol('x',1),level_pose);
initial.insert(Symbol('x',1), level_pose); initial.insert(Symbol('x',1), level_pose);
initial.insert(Symbol('l',1), inv_landmark); initial.insert(Symbol('l',1), inv_landmark);
initial.insert(Symbol('d',1), inv_depth); initial.insert(Symbol('d',1), inv_depth);
@ -75,7 +75,7 @@ TEST( InvDepthFactor, optimize) {
Symbol('x',2), Symbol('l',1),Symbol('d',1),K)); Symbol('x',2), Symbol('l',1),Symbol('d',1),K));
graph.push_back(factor1); graph.push_back(factor1);
graph.add(PoseConstraint(Symbol('x',2),right_pose)); graph += PoseConstraint(Symbol('x',2),right_pose);
initial.insert(Symbol('x',2), right_pose); initial.insert(Symbol('x',2), right_pose);

7
gtsam_unstable/slam/tests/testMultiProjectionFactor.cpp
View File

@ -16,7 +16,6 @@
* @date Nov 2009 * @date Nov 2009
*/ */
#include <gtsam_unstable/nonlinear/ConcurrentBatchFilter.h>
#include <gtsam/slam/PriorFactor.h> #include <gtsam/slam/PriorFactor.h>
#include <gtsam/slam/BetweenFactor.h> #include <gtsam/slam/BetweenFactor.h>
#include <gtsam/slam/ProjectionFactor.h> #include <gtsam/slam/ProjectionFactor.h>
@ -25,10 +24,10 @@
#include <gtsam/nonlinear/LevenbergMarquardtOptimizer.h> #include <gtsam/nonlinear/LevenbergMarquardtOptimizer.h>
#include <gtsam/nonlinear/NonlinearFactorGraph.h> #include <gtsam/nonlinear/NonlinearFactorGraph.h>
#include <gtsam/nonlinear/LinearContainerFactor.h> #include <gtsam/nonlinear/LinearContainerFactor.h>
#include <gtsam/nonlinear/Ordering.h> #include <gtsam/inference/Ordering.h>
#include <gtsam/nonlinear/Values.h> #include <gtsam/nonlinear/Values.h>
#include <gtsam/nonlinear/Symbol.h> #include <gtsam/nonlinear/Symbol.h>
#include <gtsam/nonlinear/Key.h> #include <gtsam/inference/Key.h>
#include <gtsam/inference/JunctionTree.h> #include <gtsam/inference/JunctionTree.h>
#include <gtsam/geometry/Pose3.h> #include <gtsam/geometry/Pose3.h>
#include <gtsam/geometry/Point3.h> #include <gtsam/geometry/Point3.h>
@ -76,7 +75,7 @@ TEST( MultiProjectionFactor, create ){
views.insert(x3); views.insert(x3);
MultiProjectionFactor<Pose3, Point3> mpFactor(n_measPixel, noiseProjection, views, l1, K); MultiProjectionFactor<Pose3, Point3> mpFactor(n_measPixel, noiseProjection, views, l1, K);
graph.add(mpFactor); graph += mpFactor;
} }

10
gtsam_unstable/slam/tests/testSerialization.cpp
View File

@ -8,6 +8,14 @@
*/ */
#include <CppUnitLite/TestHarness.h> #include <CppUnitLite/TestHarness.h>
#include <iostream>
TEST(testSerialization, disabled)
{
CHECK(("*** testSerialization in gtsam_unstable/slam is disabled *** - Needs conversion for unordered", 0));
}
#if 0
#include <gtsam/slam/serialization.h> #include <gtsam/slam/serialization.h>
@ -117,6 +125,8 @@ TEST( testSerialization, serialization_file ) {
EXPECT(assert_equal(values, actValuesXML)); EXPECT(assert_equal(values, actValuesXML));
} }
#endif
/* ************************************************************************* */ /* ************************************************************************* */
int main() { TestResult tr; return TestRegistry::runAllTests(tr); } int main() { TestResult tr; return TestRegistry::runAllTests(tr); }
/* ************************************************************************* */ /* ************************************************************************* */