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updating missing param in gui

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This commit is contained in:
matlabbe
2026-06-01 22:09:40 -07:00
parent fe7c536be4
commit e2add4ac70
3 changed files with 149 additions and 117 deletions
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corelib/test/test_rtabmap_integration.cpp
+19 -17
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@@ -54,12 +54,17 @@ std::string testDataPath(const std::string & basename)
// Output DB path named after the running test so manual inspection is easy
// (rtabmap-databaseViewer <tempdir>/rtabmap_integration_<TestName>.db). The
// file is overwritten on each run and NOT deleted at teardown.
std::string workDbForCurrentTest()
std::string workDbForCurrentTest(const std::string & suffix = "")
{
const ::testing::TestInfo * info =
::testing::UnitTest::GetInstance()->current_test_info();
const std::string testName = info != nullptr ? info->name() : "unknown";
return test::tempPath(uFormat("rtabmap_integration_%s.db", testName.c_str()));
if(suffix.empty())
{
return test::tempPath(uFormat("rtabmap_integration_%s.db", testName.c_str()));
}
return test::tempPath(uFormat("rtabmap_integration_%s_%s.db",
testName.c_str(), suffix.c_str()));
}
// Result bundle populated by replayDatabase(). Extend as the assertions in the
@@ -133,11 +138,8 @@ ReplayResult replayDatabase(
bool useStoredOdomAsGuess = false,
bool passOdomDataToRtabmap = false,
const std::map<double, Transform> * goldenStampedGroundTruth = nullptr,
// When >1, drop (stride-1) frames out of every `stride` reads
// before any odometry/rtabmap work — halves work at stride=2,
// thirds at stride=3, etc. The throttle inside rtabmap still
// applies on top.
int frameStride = 1)
int frameStride = 1,
const std::string & runLabel = "")
{
ReplayResult result;
@@ -158,11 +160,12 @@ ReplayResult replayDatabase(
std::unique_ptr<Odometry> odometry(Odometry::create(odometryParameters));
// Output DB at a discoverable path named after the test. We erase any
// previous run's file so each invocation starts fresh, but we deliberately
// do NOT delete it at the end -- callers can inspect it with
// rtabmap-databaseViewer to verify the run looks sensible.
const std::string workDb = workDbForCurrentTest();
// Output DB at a discoverable path named after the test (with optional
// runLabel suffix to disambiguate per-backend / per-variant runs). We
// erase any previous file so each invocation starts fresh but we
// deliberately do NOT delete it at the end -- callers can inspect it
// with rtabmap-databaseViewer to verify the run looks sensible.
const std::string workDb = workDbForCurrentTest(runLabel);
UFile::erase(workDb);
Rtabmap rtabmap;
rtabmap.init(rtabmapParameters, workDb);
@@ -879,13 +882,12 @@ TEST_F(RtabmapIntegrationFixture, Stereo20Hz)
ParametersMap odomParams = baseOdometryParams();
odomParams[Parameters::kOdomF2MBundleAdjustment()] = strategy;
// passOdomDataToRtabmap=true: rtabmap reuses keypoints/descriptors
// already extracted by odometry (pairs with Mem/UseOdomFeatures).
// useStoredOdomAsGuess=false: this DB has no stored odom — visual
// odom runs from scratch.
const ReplayResult result = replayDatabase(dbPath, rtabmapParams, odomParams,
/*useStoredOdomAsGuess=*/false,
/*passOdomDataToRtabmap=*/true);
/*passOdomDataToRtabmap=*/true,
/*goldenStampedGroundTruth=*/nullptr,
/*frameStride=*/1,
/*runLabel=*/be.name);
EXPECT_GT(result.framesRead, 1000)
<< be.name << ": expected ~1035 frames from stereo_20Hz.db";