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Commit495648e

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Merge pull request#602 from OSVR/update-tests
Update tests: port all to Catch2 2.8.0, removing old gtest
2 parents297fa11 +59cf1d0 commit495648e

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‎CMakeLists.txt‎

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@@ -178,8 +178,6 @@ use_folders()
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include(PlatformDefinitions)
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define_platform_macros(OSVR)
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include(osvrGtest)
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# Modules that get shipped with an installed SDK
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include(osvrAddPlugin)
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include(osvrConvertJson)

‎README.md‎

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@@ -25,12 +25,12 @@ This project: Licensed under the Apache License, Version 2.0.
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Some directories under`/vendor` are in fact not external libraries vendored-in, but "internally-vendored" - developed as a part of OSVR-Core, and likewise licensed under the Apache License 2.0, but are logically distinct from the Core in their functionality and are thus kept separate in anticipation of potential splitting off into a separate project at some future point. These include`/vendor/comutils` and`/vendor/dummy-sal`.
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-`/cmake` - Git subtree from<https://github.com/rpavlik/cmake-modules> used at compile-time only. Primarily BSL 1.0, some items under the license used by CMake (BSD-style)
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-`/vendor/catch-single-header-2.8.0` - Header downloaded from<https://github.com/catchorg/Catch2/releases/download/v2.8.0/catch.hpp> - BSL 1.0 license. Used only for building/running tests.
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-`/vendor/com_smart_pointer` - Header (for integrating`boost::intrusive_ptr` with MS COM) extracted from the following project and file:<https://github.com/rengeln/nyx/blob/master/src/Prefix.h>, modified as needed for compatibility. MIT license.
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-`/vendor/discount-windows-bins` - Submodule containing source, build script, and Windows binaries for the "Discount" Markdown processor, used only during the build process on Windows. Upstream at<https://github.com/Orc/discount>. 3-clause BSD license.
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-`/vendor/eigen` - Unpacked release from<http://eigen.tuxfamily.org/> - header-only library under the MPL2 (a file-level copyleft, compatible with proprietary software), define`EIGEN_MPL2_ONLY` to exclude modules with other license from the build (done in OSVR-Core build system).
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-`/vendor/FloatExceptions` - Modified code ([original author: Bruce Dawson](http://randomascii.wordpress.com/2012/04/21/exceptional-floating-point/) for development use only, usage should not be committed or merged into master. MIT licensed.
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-`/vendor/folly` - Submodule of[C++11 components originally developed and widely used at Facebook](https://github.com/facebook/folly). Apache License, Version 2.0.
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-`/vendor/gtest-1.7.0` - Unpacked source from<https://code.google.com/p/googletest/> - 3-clause BSD license. Used only for building/running tests.
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-`/vendor/jenkins-ctest-plugin` - Git submodule from<https://github.com/rpavlik/jenkins-ctest-plugin>, used only for building/running tests and CI. MIT license.
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-`/vendor/libcxx-backports` - C++11/14 standard library functionality backported into headers using the implementations from the libc++ project at<http://libcxx.llvm.org/>. Dual licensed under[the MIT and the "BSD-like" UIUC license](http://llvm.org/docs/DeveloperPolicy.html#license).
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-`/vendor/UIforETWbins` - Distributed binary releases of UIforETW<https://github.com/google/UIforETW> extracted to a Git repo (submodule) unmodified. Apache License, Version 2.0.

‎cmake-local/osvrGtest.cmake‎

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‎plugins/unifiedvideoinertialtracker/CMakeLists.txt‎

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@@ -123,9 +123,10 @@ if(BUILD_TESTING)
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TestIMU_Common.h
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TestIMU_EKF.cpp
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TestIMU_UKF.cpp)
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target_link_libraries(uvbi-test-imuPRIVATE uvbi-corevendored-catch)
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target_link_libraries(uvbi-test-imuPRIVATE uvbi-coreosvr-catch2-interface)
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set_target_properties(uvbi-test-imu PROPERTIES
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FOLDER"${PROJ_FOLDER}")
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add_test(NAME TestIMUCOMMAND uvbi-test-imu)
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endif()
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# "object library" for the HDK data files.

‎plugins/unifiedvideoinertialtracker/TestIMU.h‎

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/// messages.
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#defineCATCH_CONFIG_CONSOLE_WIDTH 120
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// Internal Includes
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#include"catch_typelist.h"// internally-developed extension to Catch.
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// Library/third-party includes
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#include<catch.hpp>
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// Standard includes
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// - none
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#include<catch2/catch.hpp>
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#endif// INCLUDED_TestIMU_h_GUID_955733BE_EFEE_4C8E_6D9B_F1A8FDBC8F6C

‎plugins/unifiedvideoinertialtracker/TestIMU_Common.h‎

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*/
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// Copyright 2016 Sensics, Inc.
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// Copyright 2019 Collabora, Ltd.
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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#include"ConfigParams.h"
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#include"IMUStateMeasurements.h"
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#include"IMUStateMeasurements.h"
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// Library/third-party includes
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#include<osvr/Util/Angles.h>
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}
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}// namespace Eigen
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namespaceCatch {
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template<>structTypelistTypeNameTrait<kalman::QFirst> {
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staticconstchar *get() {return"kalman::QFirst"; }
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};
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template<>structTypelistTypeNameTrait<kalman::QLast> {
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staticconstchar *get() {return"kalman::QLast"; }
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};
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template<>structTypelistTypeNameTrait<kalman::SplitQ> {
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staticconstchar *get() {return"kalman::SplitQ"; }
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};
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}// namespace Catch
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staticconstdouble SMALL_VALUE =0.1;
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template<typename MeasurementType,typename InProgressType>
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AND_THEN("state correction should not contain any translational/linear"
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"velocity components") {
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REQUIRE(inProgress.stateCorrection.templatehead<3>().isZero());
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REQUIRE(
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inProgress.stateCorrection.templatesegment<3>(6).isZero());
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REQUIRE(inProgress.stateCorrection.templatesegment<3>(6).isZero());
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}
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AND_WHEN("the correction is applied") {
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auto errorCovarianceCorrectionWasFinite = inProgress.finishCorrection();

‎plugins/unifiedvideoinertialtracker/TestIMU_EKF.cpp‎

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*/
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// Copyright 2016 Sensics, Inc.
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// Copyright 2019 Collabora, Ltd.
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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#if0
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/// Turns out that QFirst and QLast are likely wrong.
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CATCH_TYPELIST_DESCRIBED_TESTCASE("identity calibration output", "[.][ekf]", kalman::QFirst,
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TEMPLATE_TEST_CASE("identity calibration output", "[.][ekf]", kalman::QFirst,
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kalman::QLast, kalman::SplitQ) {
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#endif
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CATCH_TYPELIST_DESCRIBED_TESTCASE("identity calibration output","[.][ekf]",
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kalman::SplitQ,
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kalman::QLastWithSplitInnovation) {
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using MeasurementType = OrientationMeasurementUsingPolicy<TypeParam>;
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TEMPLATE_TEST_CASE("identity calibration output","[.][ekf]", kalman::SplitQ,
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kalman::QLastWithSplitInnovation) {
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using MeasurementType = OrientationMeasurementUsingPolicy<TestType>;
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using JacobianType =typename MeasurementType::JacobianType;
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unique_ptr<TestData>data(new TestData);
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GIVEN("an identity state") {

‎plugins/unifiedvideoinertialtracker/TestIMU_UKF.cpp‎

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*/
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// Copyright 2016 Sensics, Inc.
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// Copyright 2019 Collabora, Ltd.
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.

‎plugins/unifiedvideoinertialtracker/catch_typelist.h‎

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‎plugins/videobasedtracker/CMakeLists.txt‎

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vbtracker-core)
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set_target_properties(vbtracker-cam PROPERTIES
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FOLDER"OSVR Plugins/Video-Based Tracker")
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#osvr_setup_gtest(vbtracker-cam)
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if(WIN32)
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target_link_libraries(vbtracker-camPRIVATE directshow-camera)

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