Move code shared between test into own file

RainerKuemmerle · RainerKuemmerle · commit 1b89597b4e49 · 2020-12-23T01:17:04.000+01:00
diff --git a/unit_test/general/CMakeLists.txt b/unit_test/general/CMakeLists.txt
@@ -1,4 +1,5 @@
 add_executable(unittest_general
+  allocate_optimizer.cpp allocate_optimizer.h
   graph_operations.cpp
   clear_and_redo.cpp
 )
diff --git a/unit_test/general/allocate_optimizer.cpp b/unit_test/general/allocate_optimizer.cpp
@@ -0,0 +1,49 @@
+// g2o - General Graph Optimization
+// Copyright (C) 2011 R. Kuemmerle, G. Grisetti, W. Burgard
+// All rights reserved.
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are
+// met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright
+//   notice, this list of conditions and the following disclaimer in the
+//   documentation and/or other materials provided with the distribution.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS
+// IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED
+// TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A
+// PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
+// HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED
+// TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
+// PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
+// LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
+// NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
+#include "g2o/core/block_solver.h"
+#include "g2o/core/optimization_algorithm_gauss_newton.h"
+#include "g2o/solvers/eigen/linear_solver_eigen.h"
+
+
+namespace g2o {
+namespace internal {
+
+typedef g2o::BlockSolver<g2o::BlockSolverTraits<-1, -1> > SlamBlockSolver;
+typedef g2o::LinearSolverEigen<SlamBlockSolver::PoseMatrixType> SlamLinearSolver;
+
+g2o::SparseOptimizer* createOptimizerForTests() {
+  // Initialize the SparseOptimizer
+  g2o::SparseOptimizer* mOptimizer = new g2o::SparseOptimizer();
+  auto linearSolver = g2o::make_unique<SlamLinearSolver>();
+  linearSolver->setBlockOrdering(false);
+  auto blockSolver = g2o::make_unique<SlamBlockSolver>(std::move(linearSolver));
+  mOptimizer->setAlgorithm(new g2o::OptimizationAlgorithmGaussNewton(std::move(blockSolver)));
+  return mOptimizer;
+}
+
+}  // namespace internal
+}  // namespace g2o
diff --git a/unit_test/general/allocate_optimizer.h b/unit_test/general/allocate_optimizer.h
@@ -0,0 +1,41 @@
+// g2o - General Graph Optimization
+// Copyright (C) 2011 R. Kuemmerle, G. Grisetti, W. Burgard
+// All rights reserved.
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are
+// met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright
+//   notice, this list of conditions and the following disclaimer in the
+//   documentation and/or other materials provided with the distribution.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS
+// IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED
+// TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A
+// PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
+// HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED
+// TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
+// PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
+// LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
+// NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
+#ifndef G2O_TEST_ALLOCATE_OPTIMIZER_H
+#define G2O_TEST_ALLOCATE_OPTIMIZER_H
+
+namespace g2o {
+
+class SparseOptimizer;
+
+namespace internal {
+
+g2o::SparseOptimizer* createOptimizerForTests();
+
+}  // namespace internal
+}  // namespace g2o
+
+#endif
diff --git a/unit_test/general/clear_and_redo.cpp b/unit_test/general/clear_and_redo.cpp
@@ -24,60 +24,51 @@
 // NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
 // SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 
-#include "gtest/gtest.h"
-
-#include "g2o/core/block_solver.h"
-#include "g2o/core/optimization_algorithm_gauss_newton.h"
-#include "g2o/types/slam3d/types_slam3d.h"
-#include "g2o/solvers/eigen/linear_solver_eigen.h"
+#include "allocate_optimizer.h"
+#include "g2o/core/sparse_optimizer.h"
 #include "g2o/core/sparse_optimizer_terminate_action.h"
+#include "g2o/types/slam3d/types_slam3d.h"
+#include "gtest/gtest.h"
 
-typedef g2o::BlockSolver< g2o::BlockSolverTraits<-1, -1> > SlamBlockSolver;
-typedef g2o::LinearSolverEigen<SlamBlockSolver::PoseMatrixType> SlamLinearSolver;
-
-TEST(General, ClearAndRedo)
-{   
+TEST(General, ClearAndRedo) {
   // Initialize the SparseOptimizer
-  g2o::SparseOptimizer mOptimizer;
-  auto linearSolver = g2o::make_unique<SlamLinearSolver>();
-  linearSolver->setBlockOrdering(false);
-  auto blockSolver = g2o::make_unique<SlamBlockSolver>(std::move(linearSolver));
-  mOptimizer.setAlgorithm(new g2o::OptimizationAlgorithmGaussNewton(std::move(blockSolver)));
+  std::unique_ptr<g2o::SparseOptimizer> mOptimizerPtr;
+  mOptimizerPtr.reset(g2o::internal::createOptimizerForTests());
+  g2o::SparseOptimizer& mOptimizer = *mOptimizerPtr;
 
   // Set the default terminate action
   g2o::SparseOptimizerTerminateAction* terminateAction = new g2o::SparseOptimizerTerminateAction;
   mOptimizer.addPostIterationAction(terminateAction);
 
-  for(int i = 0; i < 2; i++)
-  {
+  for (int i = 0; i < 2; i++) {
     // Add vertices
     g2o::VertexSE3* v0 = new g2o::VertexSE3;
-    v0->setEstimate(Eigen::Transform<number_t,3,1>(Eigen::Translation<number_t, 3>(0,0,0)));
+    v0->setEstimate(Eigen::Transform<number_t, 3, 1>(Eigen::Translation<number_t, 3>(0, 0, 0)));
     v0->setId(0);
     mOptimizer.addVertex(v0);
 
     g2o::VertexSE3* v1 = new g2o::VertexSE3;
-    v1->setEstimate(Eigen::Transform<number_t,3,1>(Eigen::Translation<number_t, 3>(0,0,0)));
+    v1->setEstimate(Eigen::Transform<number_t, 3, 1>(Eigen::Translation<number_t, 3>(0, 0, 0)));
     v1->setId(1);
     mOptimizer.addVertex(v1);
 
     g2o::VertexSE3* v2 = new g2o::VertexSE3;
-    v2->setEstimate(Eigen::Transform<number_t,3,1>(Eigen::Translation<number_t, 3>(0,0,0)));
+    v2->setEstimate(Eigen::Transform<number_t, 3, 1>(Eigen::Translation<number_t, 3>(0, 0, 0)));
     v2->setId(2);
     mOptimizer.addVertex(v2);
 
     // Add edges
     g2o::EdgeSE3* e1 = new g2o::EdgeSE3();
     e1->vertices()[0] = mOptimizer.vertex(0);
     e1->vertices()[1] = mOptimizer.vertex(1);
-    e1->setMeasurement(g2o::Isometry3(Eigen::Translation<number_t, 3>(1,0,0)));
+    e1->setMeasurement(g2o::Isometry3(Eigen::Translation<number_t, 3>(1, 0, 0)));
     e1->setInformation(g2o::MatrixN<6>::Identity());
     mOptimizer.addEdge(e1);
 
     g2o::EdgeSE3* e2 = new g2o::EdgeSE3();
     e2->vertices()[0] = mOptimizer.vertex(1);
     e2->vertices()[1] = mOptimizer.vertex(2);
-    e2->setMeasurement(g2o::Isometry3(Eigen::Translation<number_t, 3>(0,1,0)));
+    e2->setMeasurement(g2o::Isometry3(Eigen::Translation<number_t, 3>(0, 1, 0)));
     e2->setInformation(g2o::MatrixN<6>::Identity());
     mOptimizer.addEdge(e2);
 
@@ -90,14 +81,13 @@ TEST(General, ClearAndRedo)
 
     v0->setFixed(true);
 
-    //mOptimizer.setVerbose(true);
+    // mOptimizer.setVerbose(true);
     mOptimizer.initializeOptimization();
     mOptimizer.computeInitialGuess();
     mOptimizer.computeActiveErrors();
     int iter = mOptimizer.optimize(10);
-    if (iter <= 0)
-    {
-      ADD_FAILURE();
+    if (iter <= 0) {
+      ADD_FAILURE() << "Optimization did not happen";
     } else {
       SUCCEED();
     }
diff --git a/unit_test/general/graph_operations.cpp b/unit_test/general/graph_operations.cpp
@@ -26,44 +26,24 @@
 
 #include <numeric>
 
-#include "g2o/core/block_solver.h"
+#include "allocate_optimizer.h"
 #include "g2o/core/factory.h"
-#include "g2o/core/optimization_algorithm_gauss_newton.h"
-#include "g2o/solvers/eigen/linear_solver_eigen.h"
+#include "g2o/core/sparse_optimizer.h"
 #include "g2o/stuff/string_tools.h"
 #include "g2o/types/slam2d/types_slam2d.h"
-#include "g2o/types/slam3d/types_slam3d.h"
 #include "gmock/gmock.h"
 #include "gtest/gtest.h"
 
-typedef g2o::BlockSolver<g2o::BlockSolverTraits<-1, -1>> SlamBlockSolver;
-typedef g2o::LinearSolverEigen<SlamBlockSolver::PoseMatrixType> SlamLinearSolver;
-
 G2O_USE_TYPE_GROUP(slam2d);
-G2O_USE_TYPE_GROUP(slam3d);
-
-static g2o::SparseOptimizer* createOptimizer() {
-  // Initialize the SparseOptimizer
-  g2o::SparseOptimizer* mOptimizer = new g2o::SparseOptimizer();
-  auto linearSolver = g2o::make_unique<SlamLinearSolver>();
-  linearSolver->setBlockOrdering(false);
-  auto blockSolver = g2o::make_unique<SlamBlockSolver>(std::move(linearSolver));
-  mOptimizer->setAlgorithm(new g2o::OptimizationAlgorithmGaussNewton(std::move(blockSolver)));
-  return mOptimizer;
-}
 
 TEST(General, BinaryEdgeConstructor) {
-  g2o::EdgeSE3 e1;
-  ASSERT_EQ(NULL, e1.vertices()[0]);
-  ASSERT_EQ(NULL, e1.vertices()[1]);
-
   g2o::EdgeSE2 e2;
-  ASSERT_EQ(NULL, e2.vertices()[0]);
-  ASSERT_EQ(NULL, e2.vertices()[1]);
+  ASSERT_EQ(nullptr, e2.vertices()[0]);
+  ASSERT_EQ(nullptr, e2.vertices()[1]);
 }
 
 TEST(General, GraphAddVertex) {
-  g2o::SparseOptimizer* optimizer = createOptimizer();
+  g2o::SparseOptimizer* optimizer = g2o::internal::createOptimizerForTests();
 
   g2o::VertexSE2* v1 = new g2o::VertexSE2();
   v1->setId(0);
@@ -78,15 +58,15 @@ TEST(General, GraphAddVertex) {
     v2->setId(0);
     ASSERT_FALSE(optimizer->addVertex(v2));
     ASSERT_EQ(size_t(1), optimizer->vertices().size());
-    ASSERT_EQ(NULL, v2->graph());
+    ASSERT_EQ(nullptr, v2->graph());
     delete v2;
   }
 
   delete optimizer;
 }
 
 TEST(General, GraphAddEdge) {
-  g2o::SparseOptimizer* optimizer = createOptimizer();
+  g2o::SparseOptimizer* optimizer = g2o::internal::createOptimizerForTests();
 
   g2o::VertexSE2* v1 = new g2o::VertexSE2();
   v1->setId(0);
@@ -129,7 +109,7 @@ TEST(General, GraphAddEdge) {
 class GeneralGraphLoadSave : public ::testing::Test {
  protected:
   void SetUp() override {
-    optimizer.reset(createOptimizer());
+    optimizer.reset(g2o::internal::createOptimizerForTests());
 
     // Add vertices
     for (int i = 0; i < numVertices; ++i) {

Original file line number	Diff line number	Diff line change
`@@ -1,4 +1,5 @@`
`1`	`1`	`add_executable(unittest_general`
	`2`	`+ allocate_optimizer.cpp allocate_optimizer.h`
`2`	`3`	`graph_operations.cpp`
`3`	`4`	`clear_and_redo.cpp`
`4`	`5`	`)`